Cart (Loading....) | Create Account
Close category search window
 

Uniform Asymptotic Stability of Nonlinear Switched Systems With an Application to Mobile Robots

Sign In

Full text access may be available.

To access full text, please use your member or institutional sign in.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Lee, T.C. ; Dept. of Electr. Eng., Minghsin Univ. of Sci. & Technol., Hsinchu ; Jiang, Z.-P.

This paper is concerned with the study of, both local and global, uniform asymptotic stability for general nonlinear and time-varying switched systems. Two concepts of Lyapunov functions are introduced and used to establish uniform Lyapunov stability and uniform global stability. With the help of output functions, an almost bounded output energy condition and an output persistent excitation condition are then proposed and employed to guarantee uniform local and global asymptotic stability. Based on this result, a generalized version of Krasovskii-LaSalle theorem in time-varying switched systems is proposed. For switched systems with persistent dwell-time, the output persistent excitation condition is guaranteed to hold under a zero-state observability condition. It is shown that several existing results in past literature can be covered as special cases using the proposed criteria. Interestingly, as opposed to previous work, the main results of this paper are applicable to the situation where some switching systems are not asymptotically stable at the origin. The robust practical regulation problem of nonholonomic mobile robots is studied as a way of demonstrating the power of the proposed new criteria. A novel switching controller is proposed with guaranteed robustness to orientation error and unknown parameters in mobile robots.

Published in:

Automatic Control, IEEE Transactions on  (Volume:53 ,  Issue: 5 )

Date of Publication:

June 2008

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.