Abstract
•Consideration of a robust tracking problem for the uncertain switched systems with matched and unmatched uncertainties and input saturations.•Design of a self-tuning ISM controller combined with CNF law so that the output would track the reference signal as fast as possible with the improved transient performance and steady-state accuracy.•Presentation of a self-tuning approach which suggests a varying boundary layer width and a variable control gain that could successfully eliminate the reaching phase and input chattering.•No requirement to the knowledge of the upper bounds of the uncertainties and proposing an adjustable gain-tuning method (without high-frequency switching) via bipolar sigmoid function.•Design of a CNF control law with a new form of the nonlinear function to adapt the variations of the tracking targets.
In this paper, a composite nonlinear feedback technique is proposed for robust tracking control of switched systems with unmatched uncertainties and input saturation. The proposed self-tuning integral sliding mode tracker presents a time-varying boundary layer width and a variable control gain, which could improve the transient performance and steady-state accuracy simultaneously. This scheme guarantees robustness against uncertainties, removes reaching phase, and avoids chattering problem. To adapt the variation of the tracking targets, a new scaled nonlinear function is employed. Simulation results are included to exhibit the efficiency of the suggested method.