Abstract: The problem of H∞ output tracking control for switched time⁃delay systems is investigated by using mode⁃dependent average dwell time method. Using the multiple Lyapunov function method, the condition satisfied by the mode⁃dependent average dwell time was developed, such that the considered systems were exponentially stabilizable with H∞ output tracking performance, the switching controller combining state feedback and tracking error integral was also designed simultaneously. Different from the single average dwell time method, the mode⁃dependent average dwell time method allowed each subsystem of switched systems to possess its own average dwell time, thus it reduced the conservatism of the results. Finally, a numerical example was used to illustrate the effectiveness of the proposed theoretical results.

Key words: Mode?dependent average dwell time, Tracking control, Switched time?delay systems, Multiple Lyapunov function； L₂-gain

摘要： 使用模型依赖平均驻留时间方法研究一类切换时滞系统H∞输出跟踪问题。使用多Lyapunov函数方法理论，给出模型依赖平均驻留时间所满足的条件，确保所研究的切换时滞系统是指数稳定的且具有H∞输出跟踪性能，同时给出状态反馈和跟踪误差积分相结合的控制器设计方案。不同于单一平均驻留时间方法，模型依赖平均驻留时间方法，允许切换系统的每一个子系统具有各自的平均驻留时间，因此降低了结果的保守性。最后，通过仿真算例验证所获得理论结果的有效性和正确性。

关键词: 模型依赖平均驻留时间, 跟踪控制, 切换时滞系统, 多Lyapunov函数, L₂增益