This paper presents robust optimal control of an uncertain nonlinear switched system with forced subsystems. The uncertainties include external disturbance and parametric uncertainties. Switching signal and control input are designed to minimize a given cost function. Approximate dynamic programming (ADP) has been efficiently applied to certain switched systems as an optimal control strategy. Since approximate dynamic programming method is model based, there would seem to be some difficulties to apply approximate dynamic programming to uncertain switched system. To overcome these mentioned problems, this paper presents an appropriate model. In order to apply proposed control approach, robust time-delay controller is added with ADP control. At first uncertainties are compensated by robust time-delay controller. Then the switching signal and the control input are design by approximate dynamic programming that provides a feedback solution for unspecified initial conditions. The discussing boundedness of states and simulation results verify the effectiveness of the proposed control approach.

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