LAUSR

Switched nonlinear differential equations have the ability to capture the discontinuous behaviour of dynamical systems while modelling of systems like chemical processes, robots, and multi-agent interconnections. This work proposes a new time-scale redesign-based robust filter backstepping controller for a class of uncertain switched nonlinear systems in strict feedback form. Here, the singular perturbation technique is exploited for two purposes: (1) designing high-gain filters to avoid the explosion of complexity in backstepping design and (2) designing high-gain disturbance observers to mitigate the undesired effects of uncertainties. The discontinuities in the system dynamics and the disturbances coupled with the high-gain filter design give rise to a three-time switched nonlinear closed loop system, whose stability is assured through an average dwell time-based Lyapunov technique. The numerical simulations are carried out on a single link manipulator, which replicates the real-time situations. The results confirmed the proposed approach's applicability to other higher-order systems.