
This paper proposes a switching-dependent prescribed performance adaptive control (SPPAC) scheme for a class of switched nonlinear systems to achieve prescribed tracking performance and practical finite-time stability. To accommodate the distinct performance requirements and dynamic characteristics of individual subsystems, switching-dependent prescribed performance bounds (PPBs) are constructed and adjusted according to the tracking error at switching instants. To address discontinuities in the transformed tracking error induced by these switching-dependent PPBs, a model transformation method is developed to reformulate the original constrained switched system as an equivalent unconstrained system. The SPPAC scheme is designed by using adaptive backstepping under an average dwell-time switching condition. Sufficient conditions are derived to guarantee the boundedness of all closed-loop signals, satisfaction of the prescribed tracking bounds, and practical finite-time convergence. Furthermore, an explicit upper bound on the settling time is established. Finally, two numerical examples are presented to demonstrate the effectiveness of the proposed SPPAC scheme.
switched nonlinear systems; prescribed performance adaptive control; ffnite-time stability