In this article, we consider the problem of switched-command-filtered-based adaptive fuzzy output-feedback funnel control for switched nonlinear multi-input multi-output (MIMO) delayed systems. A switched MIMO high-gain state observer is constructed for each subsystem to estimate unavailable system states. Compared with the conventional command filter technique, the main advantage is that the improved error-compensating signals are designed for each switched subsystem to remove the filtered errors and avoid an explosion of complexity and the singularity problem. Different from the traditional Lyapunov--Krasovskii functional method, design obstacles stemming from unknown time delays are overcome for the switched delayed systems by using appropriate multiple Lyapunov--Krasovskii functions and combining with the approximation capability of the fuzzy logic systems. Under a category of switching signals with mode-dependent average dwell time, all signals in the closed-loop switched system are semiglobally uniformly ultimate bounded under the output-feedback control; meanwhile, the tracking errors can remain in prespecified performance funnels. Case studies illustrate the flexibility and effectiveness of the proposed control approach.

中文翻译：

---

基于开关命令滤波的自适应模糊输出反馈漏斗控制


在本文中，我们考虑了开关非线性多输入多输出 （MIMO） 延迟系统的基于开关命令滤波的自适应模糊输出反馈漏斗控制问题。为每个子系统构建一个开关 MIMO 高增益状态观测器，以估计不可用的系统状态。与传统的命令滤波器技术相比，主要优点是为每个开关子系统设计了改进的误差补偿信号，以消除滤波误差并避免复杂性和奇点问题的爆炸。与传统的 Lyapunov--Krasovskii 函数方法不同，通过使用适当的多个 Lyapunov--Krasovskii 函数并结合模糊逻辑系统的逼近能力，为开关延迟系统克服了由未知时间延迟引起的设计障碍。在一类具有模式相关平均驻留时间的开关信号下，闭环开关系统中的所有信号在输出反馈控制下都是半全局均匀极限的;同时，跟踪误差可以保留在预先指定的绩效漏斗中。案例研究说明了所提出的控制方法的灵活性和有效性。