Backstepping Robust H∞ Control for a class of uncertain switched nonlinear ystems under arbitrary switchings

This paper addresses global robust H 8 control for a class of switched nonlinear systems with uncertainty under arbitrary switchings. Each subsystem is in lower triangular form. The uncertainties are assumed to be in a known compact set. The backstepping design technique is used to design a smooth state feedback controller that renders the associated closed-loop switched system globally robustly asymptotically stable and imposes a pre-specified upper bound to the L 2-gain under arbitrary switchings. An example is provided to demonstrate the efficacy of the design approach.