A piecewise smooth control-Lyapunov function framework for switching stabilization

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• 关键词：Switched system ; Switching stabilization ; Control-Lyapunov function ; Sliding motion ; Filippov solution
• 刊名：Automatica
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：76
• 期：Complete
• 页码：258-265
• 全文大小：1895 K
• 卷排序：76

文摘

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 stabilizing switching laws is developed. The switching law is constructed via directional derivative of the PSCLF with a careful discussion on various technical issues that may occur on the nonsmooth surface. Sufficient conditions are derived to ensure stability of closed-loop Filippov solutions including possible sliding motions. The proposed PSCLF approach provides a unified framework to study switching stabilization problems with a systematic consideration of sliding motions. Application to stabilization of switched nonlinear systems is illustrated through a numerical example.