Adaptive Fuzzy Control of Switched Port-Controlled Hamiltonian Systems with Input Saturation

This paper proposes a fuzzy control technique for switched port-controlled Hamiltonian systems, in which input saturation and completely unknown internal dynamics occur. Based on the mean-value theorem, multiple Lyapunov functions scheme, and universal approximation ability of fuzzy logic systems, a switching fuzzy adaptive controller is designed to ensure that all closed-loop signals are semiglobally uniformly ultimately bounded. Furthermore, the norm of an ideal weighting vector in fuzzy logic systems is taken as the estimation parameter instead of the elements of the weighting vector to reduce the dimension of adaptation laws. This switching controller can weaken the conservativeness brought by the application of the same controller for each subsystem. Finally, some examples are provided to verify the validity of the proposed approach.