Robust adaptive passification and global stabilisation for uncertain switched nonlinear systems

In this paper,we focus on the problems of feedback passification and global stabilisation for a class of uncertain switched non-linear systems with parameter uncertainties and structural uncertainties.A state-dependent switching law and adaptive feedback controllers are designed to render the resulting closed-loop systems passive.The corresponding passivity-based adaptive stabilisation problems for these systems are solved.Finally,a numerical example is presented to illustrate the effectiveness of our method.