Nonlinear system stabilization via hierarchical switching control

Author

Leonessa, Alexander ; Haddad, Wassim M. ; Chellaboina, VijaySekhar

Author_Institution

Dept. of Ocean Eng., Florida Atlantic Univ.-Sea Tech., Dania Beach, FL, USA

Volume

46

Issue

1

fYear

2001

fDate

1/1/2001 12:00:00 AM

Firstpage

17

Lastpage

28

Abstract

A nonlinear control system design framework predicated on a hierarchical switching controller architecture parameterized over a set of moving 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

Keywords

Lyapunov methods; asymptotic stability; control system synthesis; hierarchical systems; nonlinear control systems; time-varying systems; equilibria-dependent Lyapunov functions; generalized lower semicontinuous Lyapunov function; global stability; hierarchical nonlinear control strategy; hierarchical switching control; local stability; moving system equilibria; nonlinear controlled subsystems; nonlinear system stabilization; Aerodynamics; Aerospace engineering; Control nonlinearities; Control systems; Linear approximation; Lyapunov method; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Stability;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.898692

Filename

898692