Stability of Hybrid Control Systems Based on Time-State Control Forms
نویسندگان
چکیده
Time-State Control Form was proposed as one of the control method for nonholonomic systems. But this method needs input switching, so there is a drawback that the switching conditions may spoil the stability of the system. From the above backgrounds, this research considers the property of the control method based on Time-State Control Form from the viewpoint of hybrid systems. Then, we derive the switching conditions which stabilize the systems by using Lyapunov functions for each mode. Furthermore, the controlled object is limited to chained system, and the conditions to stabilize the system are shown by introducing the Lyapunov functions which are invariant to input switching.
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