Switching and feedback laws for control of constrained switched nonlinear systems

Abstract

A hybrid nonlinear control strategy is developed for switched nonlinear systems whose constituent subsystems are subject to input constraints. The key feature of this strategy is the integrated synthesis, via multiple control Lyapunov functions, of ”lower-level” bounded nonlinear feedback control laws together with”upper-level” switching laws that orchestrate the transitions between the constituent modes and their respective controllers. The control laws enforce asymptotic stability in the continuous modes and provide an explicit characterization of the stability region associated with each mode, in terms of the magnitude of the constraints. The switching scheme is then constructed to coordinate the switching between the stability regions of the different modes in a way that respects input constraints and guarantees stability of the overall switched closed-loop system.