Fiore, Davide (2017) Contraction analysis of switched systems with application to control and observer design. [Tesi di dottorato]

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Item Type:	Tesi di dottorato
Resource language:	English
Title:	Contraction analysis of switched systems with application to control and observer design
Creators:	Creators Email Fiore, Davide dvd.fiore@gmail.com
Date:	10 April 2017
Number of Pages:	149
Institution:	Università degli Studi di Napoli Federico II
Department:	Ingegneria Elettrica e delle Tecnologie dell'Informazione
Dottorato:	Information technology and electrical engineering
Ciclo di dottorato:	29
Coordinatore del Corso di dottorato:	nome email Riccio, Daniele daniele.riccio@unina.it
Tutor:	nome email di Bernardo, Mario UNSPECIFIED
Date:	10 April 2017
Number of Pages:	149
Keywords:	contraction, switched systems, Filippov systems
Settori scientifico-disciplinari del MIUR:	Area 09 - Ingegneria industriale e dell'informazione > ING-INF/04 - Automatica
Date Deposited:	09 May 2017 15:38
Last Modified:	08 Mar 2018 13:29
URI:	http://www.fedoa.unina.it/id/eprint/11820
DOI:	10.6093/UNINA/FEDOA/11820

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In many control problems, such as tracking and regulation, observer design, coordination and synchronization, it is more natural to describe the stability problem in terms of the asymptotic convergence of trajectories with respect to one another, a property known as incremental stability. Contraction analysis exploits the stability properties of the linearized dynamics to infer incremental stability properties of nonlinear systems. However, results available in the literature do not fully encompass the case of switched dynamical systems. To overcome these limitations, in this thesis we present a novel extension of contraction analysis to such systems based on matrix measures and differential Lyapunov functions. The analysis is conducted first regularizing the system, i.e. approximating it with a smooth dynamical system, and then applying standard contraction results. Based on our new conditions, we present design procedures to synthesize switching control inputs to incrementally stabilize a class of smooth nonlinear systems, and to design state observers for a large class of nonlinear switched systems including those exhibiting sliding motion. In addition, as further work, we present new conditions for the onset of synchronization and consensus patterns in complex networks. Specifically, we show that if network nodes exhibit some symmetry and if the network topology is properly balanced by an appropriate designed communication protocol, then symmetry of the nodes can be exploited to achieve a synchronization/consensus pattern.

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