Co-Design of Controllers and a Switching Policy for Nonstrict Feedback Switched Nonlinear Systems Including First-Order Feedforward Paths

Abstract

This paper studies the stabilization problem via the co-design of controllers and a switching policy for a new class of nonstrict feedback switched nonlinear systems whose subsystems consist of a chain of integrators, feedback paths, and first-order feedforward paths. Designing only smooth feedback controllers cannot deal with the unstabilizable factors caused by feedforward paths. By exploiting the single control Lyapunov function method, an effective switching policy is co-designed to compensate the controllers. In addition, we present a generalized backstepping process, based on which the solvability of virtual controllers is guaranteed, the algebraic condition for stabilizability is identified, and the transient response of the closed-loop systems is improved. Two examples demonstrate the effectiveness.