Switching control for incremental stabilization of nonlinear systems via contraction theory
Systems and Control
2020-03-18 v2
Abstract
In this paper we present a switching control strategy to incrementally stabilize a class of nonlinear dynamical systems. Exploiting recent results on contraction analysis of switched Filippov systems derived using regularization, sufficient conditions are presented to prove incremental stability of the closed-loop system. Furthermore, based on these sufficient conditions, a design procedure is proposed to design a switched control action that is active only where the open-loop system is not sufficiently incrementally stable in order to reduce the required control effort. The design procedure to either locally or globally incrementally stabilize a dynamical system is then illustrated by means of a representative example.
Keywords
Cite
@article{arxiv.1510.08368,
title = {Switching control for incremental stabilization of nonlinear systems via contraction theory},
author = {Mario di Bernardo and Davide Fiore},
journal= {arXiv preprint arXiv:1510.08368},
year = {2020}
}
Comments
Accepted to ECC 2016