Abstract
In this work, a multiple Lyapunov based robust controller design is developed with the stability of the nonlinear hybrid dynamical systems (NHDS). In particular, we present modeling and robust control of NHDS using multiple linearized models. The Hamilton-Jacobi-Bellman (HJB) solution based robust control problem is formulated for each linearized model using a suitable non-quadratic term in the objective function. The robust control law for each events are providing stability for the each event. Using the Lyapunov direct method, the proposed robust control approach is shown to be optimal under the uncertainties present in the NHDS. The performance and validation of the proposed robust control theoretical and simulation experiments on mechanical NHDS.
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