Asymptotic Stability of Switched Nonlinear Systems Under Spatio-Temporal Constraints with Minimum Dwell Time

This paper is concerned with providing a minimum dwell time switching method which guarantees the asymptotic stability under spatio-temporal constraints of switched nonlinear systems. Firstly, the spatio-temporal constraints considered here consist of two specifications: (1) the state trajectory is required to remain in a given region for each subsystem, and (2) the state trajectory is required to reach a target region in a fixed instant. Then, based on the analytical-inductive method and a minimum dwell time approach, a collection of sufficient conditions are built up. Finally, two simulation examples are employed to verify the effectiveness of the proposed method.

1 Introduction

For decades, vast results on switching analysis have been reported due to their strong practical background and im-pactful applications such as power electronics, load shifting robot manipulator, and so forth [1], [2]. Meantime, with the advances in robotics and industries, asymptotic tracking with spatio-temporal constraints becomes a critical requirement [3]. However, there are little works on the study of solving spatio-temporal constraints for switched systems. As a mat-ter of fact, designing a switching strategy to drive the sys-tem trajectories satisfying spatio-temporal specifications is a substantial requirement from both theoretical and practical points of view.