  In this paper, we investigate the model reference adaptive control approach
for uncertain piecewise affine systems with performance guarantees. The
proposed approach ensures the error metric, defined as the weighted Euclidean
norm of the state tracking error, to be confined within a user-defined
time-varying performance bound. We introduce an auxiliary performance function
to construct a barrier Lyapunov function. This auxiliary performance signal is
reset at each switching instant, which prevents the transgression of the
barriers caused by the jumps of the error metric at switching instants. The
dwell time constraints are derived based on the parameters of the user-defined
performance bound and the auxiliary performance function. We also prove that
the Lyapunov function is non-increasing even at the switching instants and thus
does not impose extra dwell time constraints. Furthermore, we propose the
robust modification of the adaptive controller for the uncertain piecewise
affine systems subject to unmatched disturbances. A Numerical example validates
the correctness of the proposed approach.
