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<p>The design and validation of a filtered backstepping controller with a high-gain disturbance observer for singularly perturbed switching systems is presented in this article. The proposed controller controls the dynamics of the system, which experiences frequent switching under different modes. To illustrate the controller’s efficacy, it is implemented on a robotic manipulator. Contraction theory has been used to analyze the closed-loop convergence of the system which guarantees stability and performance under a bounded range of operating envelopes. The results highlight the robustness of the proposed methodology for switching and disturbances in real-time applications.</p>

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Filtered backstepping controller for a nonlinear singularly perturbed switched systems based on contraction analysis

  • 期刊论文

  • 发表日期：

    2026年2月2日

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  • Dipak Prasad,
  • Sudarshan K Valluru

摘要

The design and validation of a filtered backstepping controller with a high-gain disturbance observer for singularly perturbed switching systems is presented in this article. The proposed controller controls the dynamics of the system, which experiences frequent switching under different modes. To illustrate the controller’s efficacy, it is implemented on a robotic manipulator. Contraction theory has been used to analyze the closed-loop convergence of the system which guarantees stability and performance under a bounded range of operating envelopes. The results highlight the robustness of the proposed methodology for switching and disturbances in real-time applications.