Nonlinear system stabilization via hierarchical switching control

  title={Nonlinear system stabilization via hierarchical switching control},
  author={Alexander Leonessa and Wassim M. Haddad and VijaySekhar Chellaboina},
  journal={IEEE Trans. Automat. Contr.},
In this paper, a nonlinear control-system design framework predicated on a hierarchical switching controller architecture parameterized over a set of moving system equilibria is developed. Specifically, using equilibria-dependent Lyapunov functions, a hierarchical nonlinear control strategy is developed that stabilizes a given nonlinear system by stabilizing a collection of nonlinear controlled subsystems. The switching nonlinear controller architecture is designed based on a generalized lower… CONTINUE READING



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