In this paper, the global output feedback tracking control is investigated for a class of switched nonlinear systems with time-varying system fault and deferred prescribed performance. The shifting function is introduced to improve the traditional prescribed performance control technique, remove the constraint condition on the initial value, and make the constraint bounds have more alternative forms. To estimate the unmeasured state variables and compensate the system fault, the switched dynamic gain extended state observer is constructed, which relaxes the traditional Lipschitz conditions on the nonlinear functions. Based on the proposed observer, by constructing the new Lyapunov function and using the backstepping method, the global robust output feedback controller is designed to make the output track the reference signal successfully, and after the adjustment time, the tracking error enters into the prescribed set. The stability of the system is analyzed by the average dwell time method. Finally, simulation results are given to illustrate the effectiveness of the proposed method.

本文研究了一类具有时变系统故障和延期规定性能的非线性切换系统的全局输出反馈跟踪控制。引入移位函数是对传统规定性能控制技术的改进，消除了对初始值的约束条件，并使约束边界具有更多的替代形式。为了估计未测量的状态变量并补偿系统故障，构造了开关动态增益扩展状态观测器，它放松了非线性函数上传统的Lipschitz条件。基于建议的观察者，通过构造新的Lyapunov函数并使用backstepping方法，设计了全局鲁棒输出反馈控制器，以使输出成功跟踪参考信号，在调整时间之后，跟踪误差进入规定的集合。通过平均驻留时间方法分析系统的稳定性。最后，仿真结果说明了该方法的有效性。