Uniform asymptotic stability of hybrid dynamical systems with delay

Abstract This article studies $\mathcal{KL}_*$-stability (the stability expressed by $\mathcal{KL}_*$-class function) for a class of hybrid dynamical systems (HDS). The notions of $\mathcal{KL}_{*}\mathcal{K}_{*}$-property and $\mathcal{KL}_{*}$-stability are proposed for HDS with respect to the hybrid-event-time. The $\mathcal{KL}_{*}$-stability, which is based on $\mathcal{K}$ or $\mathcal{L}$ property of the continuous flow, the discrete jump, and the event in an HDS, extends the $\mathcal{KLL}$-stability and the event-stability reported in the literature for HDS. The relationships between $\mathcal{KL}_{*}\mathcal{K}_{*}$-property and $\mathcal{KL}_{*}$-stability are established via introducing the hybrid dwell-time condition (HDT). The HDT generalizes the average dwell-time condition in the literature. For an HDS with $\mathcal{KL}_{*}\mathcal{K}_{*}$-property consisting of stabilizing $\mathcal{L}$-property and destabilizing $\mathcal{K}$-property, it is shown that there exists a common HDT under which the HDS will achieve $\mathcal{KL}_{*}$-stability. Thus HDT may help to derive some easily tested conditions for HDS to achieve uniform asymptotic stability. Moreover, a criterion of $\mathcal{KL}_{*}$-stability is derived by using the multiple Lyapunov-like functions. Examples are given to illustrate the obtained theoretical results.

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Hybrid Dynamical Systems

10.23943/princeton/9780691153896.001.0001 ◽

2012 ◽

Cited By ~ 60

Author(s):

Rafal Goebel ◽

Ricardo G. Sanfelice ◽

Andrew R. Teel

Keyword(s):

Dynamical Systems ◽

Nonlinear Systems ◽

Asymptotic Stability ◽

Discrete Time ◽

Mathematical Analysis ◽

Continuous Time ◽

Hybrid Control ◽

Control Algorithms ◽

Hybrid Dynamical Systems ◽

Approximation Techniques

Hybrid dynamical systems exhibit continuous and instantaneous changes, having features of continuous-time and discrete-time dynamical systems. Filled with a wealth of examples to illustrate concepts, this book presents a complete theory of robust asymptotic stability for hybrid dynamical systems that is applicable to the design of hybrid control algorithms—algorithms that feature logic, timers, or combinations of digital and analog components. With the tools of modern mathematical analysis, this book unifies and generalizes earlier developments in continuous-time and discrete-time nonlinear systems. It presents hybrid system versions of the necessary and sufficient Lyapunov conditions for asymptotic stability, invariance principles, and approximation techniques, and examines the robustness of asymptotic stability, motivated by the goal of designing robust hybrid control algorithms. This self-contained and classroom-tested book requires standard background in mathematical analysis and differential equations or nonlinear systems. It will interest graduate students in engineering as well as students and researchers in control, computer science, and mathematics.

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