Title :
Compositional Contraction Analysis of Resetting Hybrid Systems
Author :
Rifai, K.E. ; Slotine, Jean-Jacques E.
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA
Abstract :
This note develops sufficient conditions for exponential convergence of resetting hybrid nonlinear dynamical systems. Using nonlinear contraction theory, the analysis first develops a unified formulation of continuous-time and discrete-time nonlinear dynamics based on a differential transition matrix. This yields enhanced dwell-time based conditions for stability of such systems analogous to those existing for switched systems. It turns out that such dwell-time based conditions, unlike their counterparts for switched systems, include arbitrary stability conditions as a special case, and are less conservative and much simpler to verify
Keywords :
control system analysis; discrete time systems; nonlinear control systems; nonlinear dynamical systems; stability; time-varying systems; compositional contraction analysis; continuous-time systems; differential transition matrix; discrete-time nonlinear dynamics; nonlinear contraction theory; resetting hybrid nonlinear dynamical systems; switched systems; Asymptotic stability; Automatic control; Control systems; Convergence; MIMO; Nonlinear systems; Orbits; Sliding mode control; Stability analysis; Switched systems; Hybrid systems; impulsive systems; nonlinear contraction analysis; nonlinear systems; stability; switched systems;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2006.880806
