Contraction analysis of switched Filippov systems via regularization
Provides a new theoretical framework for analyzing stability in switched dynamical systems, which is relevant for control theory and robotics.
The paper derives sufficient conditions for convergence of trajectories in switched Filippov systems using contraction analysis and regularization, enabling study in non-Euclidean metrics. Numerical simulations confirm effectiveness.
We study incremental stability and convergence of switched (bimodal) Filippov systems via contraction analysis. In particular, by using results on regularization of switched dynamical systems, we derive sufficient conditions for convergence of any two trajectories of the Filippov system between each other within some region of interest. We then apply these conditions to the study of different classes of Filippov systems including piecewise smooth (PWS) systems, piecewise affine (PWA) systems and relay feedback systems. We show that contrary to previous approaches, our conditions allow the system to be studied in metrics other than the Euclidean norm. The theoretical results are illustrated by numerical simulations on a set of representative examples that confirm their effectiveness and ease of application.