Robust stabilizing control laws for a class of second-order switched systems |
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Authors: | Bo Hu Xuping Xu Panos J Antsaklis Anthony N Michel |
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Affiliation: | Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN 46556, USA |
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Abstract: | For a class of second-order switched systems consisting of two linear time-invariant (LTI) subsystems, we show that the so-called conic switching law proposed previously by the present authors is robust, not only in the sense that the control law is flexible (to be explained further), but also in the sense that the Lyapunov stability (resp., Lagrange stability) properties of the switched system are preserved in the presence of certain kinds of vanishing perturbations (resp., nonvanishing perturbations). The analysis is possible since the conic switching laws always possess certain kinds of “quasi-periodic switching operations”. We also propose for a class of nonlinear second-order switched systems with time-invariant subsystems a switching control law which locally exponentially stabilizes the entire nonlinear switched system, provided that the conic switching law exponentially stabilizes the linearized switched systems (consisting of the linearization of each nonlinear subsystem). This switched control law is robust in the sense mentioned above. |
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Keywords: | Second-order switched systems Switching control law Robustness Perturbations |
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