Asymptotic switched composite adaptive control with application to robotic interaction tasks

This paper proposes a new switched adaptive control design for uncertain switched systems with composite (time-driven and state-dependent) switching and shows its applicability in switched impedance control. A composite switched adaptive control design, consisting of the direct switched adaptive control and the indirect switched adaptive control counterpart, is developed to improve the control performance. Specifically, a new stability condition for composite switching is proposed by making use of differential matrix equations and Sylvester matrix equations, which are a generalization of Lyapunov matrix equations. The design results in a time-varying multiple Lyapunov function that is decreasing at the switching instants. From the theoretical point of view, the relevance of this work is the construction of the adaptive laws that guarantee asymptotic tracking error and asymptotic estimation for the direct and indirect switched adaptive control loops respectively. From the practical point of view, the relevance of this work is validated in a new switched impedance control for the robot interaction with uncertain and discontinuous environments.