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Nonlinear system stabilization via stability-based switching

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3 Author(s)
Leonessa, A. ; Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA ; Haddad, M.M. ; Chellaboina, V.

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

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Decision and Control, 1998. Proceedings of the 37th IEEE Conference on  (Volume:3 )

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