A piecewise smooth control-Lyapunov function framework for switching stabilization
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Publication:503182
DOI10.1016/J.AUTOMATICA.2016.09.029zbMATH Open1352.93088arXiv1503.01968OpenAlexW2963026934MaRDI QIDQ503182FDOQ503182
Publication date: 11 January 2017
Published in: Automatica (Search for Journal in Brave)
Abstract: This paper studies switching stabilization problems for general switched nonlinear systems. A piecewise smooth control-Lyapunov function (PSCLF) approach is proposed and a constructive way to design a stabilizing switching law is developed. The switching law is constructed via the directional derivatives of the PSCLF with a careful discussion on various technical issues that may occur on the nonsmooth surfaces. Sufficient conditions are derived to ensure stability of the closed-loop Filippov solutions including possible sliding motions. The proposed PSCLF approach contains many existing results as special cases and provides a unified framework to study nonlinear switching stabilization problems with a systematic consideration of sliding motions. Applications of the framework to switched linear systems with quadratic and piecewise quadratic control-Lyapunov functions are discussed and results stronger than the existing methods in the literature are obtained. Application to stabilization of switched nonlinear systems is illustrated through an numerical example.
Full work available at URL: https://arxiv.org/abs/1503.01968
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Variable structure systems (93B12) Nonlinear systems in control theory (93C10) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30) Adaptive or robust stabilization (93D21) Lyapunov and storage functions (93D30)
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Cited In (11)
- Graph Lyapunov function for switching stabilization and distributed computation
- Nonsmooth control-Lyapunov function and stabilization of nonlinear switching systems
- Time-triggered and event-triggered control of switched affine systems via a hybrid dynamical approach
- The viability of switched nonlinear systems with piecewise smooth Lyapunov functions
- A novel approach to sampled-data filter design for piecewise-affine systems
- Switching-Based Lyapunov Function and the Stabilization of a Class of Non-holonomic Systems
- Robust switching control design for uncertain discrete‐time switched affine systems
- Robust smooth transfer for tilt-rotor aircraft under the asynchronous switching
- A piecewise smooth control-Lyapunov function framework for switching stabilization
- Multiple Lyapunov Functions with Blending for Induced <scp>L</scp>2‐norm Control of Switched <scp>LPV</scp> Systems and its Application to an <scp>F</scp>‐16 Aircraft Model
- A control Lyapunov function approach to feedback stabilization of logical control networks
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