This paper addresses the stabilization issue of a class of switched nonlinear systems where each mode may be non-minimum phase, and the states of linearized dynamics of all modes compose the whole state space. Time dependent and state dependent stabilization switching laws are provided with considering both common and multiple Lyapunov functions. The new results are applied to aggregation probl...

In applying nonlinear model-predictive control to fast unstable systems, the main difficulty is that the optimization cannot be finished within one sampling interval. To solve this problem, a cascade-control scheme has been proposed, where input-output feedback linearization forms the inner loop and nonlinear predictive control the outer loop. Thus, the nonlinear predictive control has to handl...

In this paper, we address nonlinear control and reduction of two classes of high-order underactuated mechanical systems with kinetic symmetry called Class-II and Class-III systems. Class-II systems are underactuated systems with unactuated shape variables, decoupled inputs, and integrable normalized momentums (all to be defined). We show that all Class-II underactuated systems can be transforme...

Under an appropriate ISS condition, it is shown that global adaptive stabilization of a class of cascade systems with nonlinear parameterization is achievable by non-Lipschitz continuous partial-state adaptive regulator. This result complements the earlier work [10] on adaptive control of uncertain nonlinear systems with uncontrollable unstable linearization, which are impossible to be dealt wi...

This paper addresses the L2-gain analysis and control synthesis problem for a class of switched nonlinear systems affected by both time-varying uncertainties and external disturbances. Firstly, the L2-gain for the autonomous switched disturbed uncertain system is analyzed. Then, a switched state feedback control law is designed and the L2 -gain is analyzed for the disturbed uncertain non-autono...

In this paper we analyze a class of hybrid systems known as Witsenhausen systems, or switched systems. We study the existence of a solution to the state trajec-tory equation as well as conditions for global existence of solutions. We also present a discussion about the continuity of the solutions with respect to the initial condition. Then we prove some facts about the stability of equilibria a...

In this paper, we address nonlinear control and reduction of high-order underactuated mechanical systems with kinetic symmetry and input coupling. In some aerospace vehicles, the effects of the control of the attitude dynamics appears in the translational dynamics. We present a general framework for decoupling of these effects. The decoupling is done by applying a change of coordinates in expli...

This thesis deals with the stability analysis of switched linear systems. Such systems are characterised by a mixture of continuous dynamics and logic-based switching between discrete modes. This system class appears in a large variety of control systems and has a wide field of applications in the modern industrial society. While the application of switched control systems can be very beneficia...

This article deals with input-to-state stability (ISS) of continuous-time switched nonlinear systems. Given a family of systems with exogenous inputs such that not all systems in the family are ISS, we characterize a new and general class of switching signals under which the resulting switched system is ISS. Our stabilizing switching signals allow the number of switches to grow faster than an a...

This paper proposes sufficient conditions to the regional stability analysis of switched nonlinear systems with time-varying parameters. The nonlinear sub-modes of operation are described by means of differential-algebraic equations involving the state and an auxiliary nonlinear vector. We then use piecewise polynomial Lyapunov functions and a relaxation technique that lead to a convex characte...