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Mathematical Problems in Engineering
Volume 2017, Article ID 7368092, 7 pages
Research Article

Adaptive Control of a Class of Switched Nonlinear System with Partial State Constraints Using a Barrier Lyapunov Function

College of Information Science and Engineering, Northeastern University, Shenyang, China

Correspondence should be addressed to Enchang Cui; moc.liamtoh@iuc_mrahcdna

Received 27 March 2017; Revised 29 June 2017; Accepted 16 July 2017; Published 28 August 2017

Academic Editor: Asier Ibeas

Copyright © 2017 Enchang Cui et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper discusses partial state constraint adaptive tracking control problem of switched nonlinear systems with uncertain parameters. In order to ensure boundedness of the outputs and prevent the states from violating the constraints, a barrier Lyapunov function (BLF) is employed. Based on backstepping method, an adaptive controller for the switched system is designed. Furthermore, the state-constrained asymptotic tracking under arbitrary switching is performed. The closed-loop signals keep bounded when the initial states and control parameters are given. Finally, examples and simulation results are reported to illustrate the effectiveness of the proposed controller.