Nonlinear system stabilization via hierarchical switching control

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-depen dent Lyapunov functions, a hierarchical nonlinear control strategy is devel oped that stabilizes a given nonlinear system by stabilizing a collection o f nonlinear controlled subsystems. The switching nonlinear controller archi tecture is designed based on a generalized lower semicontinuous Lyapunov fu nction obtained by minimizing a potential function over a given switching s et induced by the parameterized system equilibria. The proposed framework p rovides a rigorous alternative to designing gain-scheduled feedback control lers and guarantees local and global closed-loop system stability for gener al nonlinear systems.