An adaptive fuzzy tracking control scheme is presented for a class of switched multi-input-multi-output (MIMO) nonlinear systems with disturbances under arbitrary switching. Adaptive fuzzy systems are employed to approximate the unknown functions on line,and a systematic framework for adaptive fuzzy tracking controller design is given,where the dynamic surface control (DSC) approach is used to solve the problem of "explosion of complexity"in the backstepping design procedure. According to the common Lyapunov function theory,it is proved that the proposed controller can guarantee the boundedness of all signals in the closed loop system. Finally,the simulation results demonstrate the validity of the control approach.
An adaptive robust attitude tracking control law based on switched nonlinear systems is presented for a variable structure near space vehicle （VSNSV） in the presence of uncertainties and disturbances. The adaptive fuzzy systems are employed for approximating unknown functions in the flight dynamic model and their parameters are updated online. To improve the flight robust performance, robust controllers with adaptive gains are designed to compensate for the approximation errors and thus they have less design conservation. Moreover, a systematic procedure is developed for the synthesis of adaptive fuzzy dynamic surface control （DSC） approach. According to the common Lyapunov function theory, it is proved that all signals of the closed-loop system are uniformly ultimately bounded by the continuous controller. The simulation results demonstrate the effectiveness and robustness of the proposed control scheme.
