Abstract In this paper, the issue of adaptive fuzzy tracking control is addressed for a class of completely non-affine uncertain switched pure-feedback nonlinear systems with unmeasurable states. In such a system, the average dwell time switching rule is adopted, and its stability is discussed for the first time in the sense of finite time. A fuzzy logic system-based switched observer is constructed to approximate unmeasurable states, which reduces the conservativeness stemming from utilizing a common observer for all subsystems. In addition, filter signals are applied to avoid algebraic loop problem existing in adoption of the controller. Then, a novel adaptive finite-time control strategy is developed on the basis of multiple Lyapunov functions approach, dynamic surface control and backstepping technique. It is proved that the designed controllers of subsystems can ensure that all the closed-loop signals are bounded under a class of switching signals with average dwell time, while the tracking error can converge to a small area of the origin in a finite time. Finally, two simulation examples are given to demonstrate the validity of the proposed control scheme.

中文翻译：

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具有平均驻留时间的切换纯反馈非线性系统的自适应有限时间输出反馈控制设计

摘要 本文研究了一类具有不可测状态的完全非仿射不确定切换纯反馈非线性系统的自适应模糊跟踪控制问题。在这样的系统中，采用了平均停留时间切换规则，并首次从有限时间的意义上讨论了其稳定性。构建了基于模糊逻辑系统的切换观察器来逼近不可测量的状态，这降低了由于对所有子系统使用公共观察器而产生的保守性。此外，应用滤波器信号以避免采用控制器时存在的代数环问题。然后，基于多李雅普诺夫函数方法、动态表面控制和反步技术开发了一种新的自适应有限时间控制策略。证明所设计的子系统控制器能够保证所有闭环信号都在一类具有平均驻留时间的开关信号下有界，而跟踪误差可以在有限时间内收敛到原点的一个小区域。最后，给出了两个仿真例子来证明所提出的控制方案的有效性。