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This paper generalizes the LaSalle–Yoshizawa Theorem to switched nonsmooth systems. The Filippov and Krasovskii regularizations of a switched system are shown to be contained within the convex hull of the Filippov and Krasovskii regularizations of the subsystems, respectively. A common candidate Lyapunov function that has a negative semidefinite generalized time derivative along the trajectories of the subsystems is shown to be sufficient to establish LaSalle–Yoshizawa-like results for the switched system. Of independent interest, are the results on approximate continuity and Filippov regularization of set-valued maps, reduction of differential inclusions using Lipschitz continuous regular functions, and comparative remarks on different generalizations of the time derivative along the trajectories of a nonsmooth system.
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On reduction of differential inclusions and Lyapunov stability
In this paper, locally Lipschitz, regular functions are utilized to identify and remove infeasible directions from set-valued maps that define differential inclusions. The resulting reduced set-valued map is pointwise smaller (in the sense of set containment) than the original set-valued map. The corresponding reduced differential inclusion, defined by the reduced set-valued map, is utilized to develop a generalized notion of a derivative for locally Lipschitz candidate Lyapunov functions in the direction(s) of a set-valued map. The developed generalized derivative yields less conservative statements of Lyapunov stability theorems, invariance theorems, invariance-like results, and Matrosov theorems for differential inclusions. Included illustrative examples demonstrate the utility of the developed theory.
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- Award ID(s):
- 1762829
- PAR ID:
- 10137859
- Date Published:
- Journal Name:
- ESAIM: Control, Optimisation and Calculus of Variations
- Volume:
- 26
- ISSN:
- 1292-8119
- Page Range / eLocation ID:
- 24
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1051/cocv/2019074
