Nonlinear system stabilization via stability-based switching

A nonlinear control-system design framework predicated on a stability-based switching controller architecture parameterized over a set of system equilibria is developed. Specifically, using equilibria-dependent Lyapunov functions a hierarchical nonlinear control strategy is developed that stabilizes a given nonlinear system by stabilizing a collection of nonlinear controlled subsystems. The switching nonlinear controller architecture is designed based on a generalized lower semicontinuous Lyapunov function obtained by minimizing a potential function over a given switching set induced by the parameterized system equilibria. The proposed framework provides a rigorous alternative to designing gain scheduled feedback controllers and guarantees local and global closed-loop system stability for general nonlinear systems.