Finite-time adaptive fuzzy constrained control of uncertain switched nonlinear systems with zero dynamics

This paper solves adaptive finite-time tracking control problem for uncertain switched nonlinear systems with states constraint, even if the tracking control problem for subsystems is not solvable. By using fuzzy logic system to deal with unknown functions, we design a state-dependent switching law and feedback controllers constructively to ensure that all the signals of the resulting closed-loop system are bounded and the output can track the reference signal in finite time. Multiple barrier Lyapunov functions (BLFs) are adopted to achieve constrained properties. Two examples are given to verify the effectiveness of the proposed design method.