This paper studies the problem of disturbance attenuation and rejection for switched systems with nonlinear uncertainty and input saturation via composite anti-disturbance control technique, in which the exosystem-generated disturbance and H 2 -norm-bounded disturbance are considered. For switched systems, the switching law and input saturation increase the difficulty for the design of the disturbance observer and the composite control scheme. A switching disturbance observer is designed to obtain the estimation of the matched disturbance, and a novel switching composite controller is further constructed based on the estimated value. By proposing a state-dependent switching law and utilizing the multiple Lyapunov function technology, the criteria are presented to ensure the local asymptotic stability with an H ∞ performance level for the closed-loop system. Furthermore, two optimal algorithms of the design of the controller are put forward to maximize the estimation of the domain of attraction of the closed-loop and the upper bound on the H 2 -norm of the disturbance, respectively. The effectiveness of the proposed technique is illustrated via the numerical examples.
- composite anti-disturbance control
- input saturation
- multiple disturbances
- nonlinear uncertainties
- Switched systems