Study On Optimization And Control Of Switched Nonlinear Systems Subject To Actuator Saturation

In this thesis, the estimation of domain of attraction, the disturbance attenuationability and controller designing for switched nonlinear systems subject to actuatorsaturation are studied.Firstly, the output feedback stabilization problem is addressed for a class ofswitched nonlinear systems with saturating actuators. A sufficient condition ofasymptotic stability is obtained via the multiple Lyapunov functions method.Furthermore, the output feedback control laws and the estimation of domain ofattraction are presented by solving a convex optimization problem with linea matrixinequality （LMI） constraints. Finally, a numerical example is given to show theeffectiveness of the proposed method.Secondly, when the systems are subject to the disturbances, L₂-gain analysis andcontrol synthesis problem is investigated for a class of switched nonlinear systems withsaturating actuators by using the multiple Lyapunov functions method.A sufficientcondition is established which guarantees that the state trajectories of the closed systemwith the disturbances are bounded. The restricted L₂-gain property is analyzed over theset of tolerable disturbances. Furthermore, the output feedback controller gains aimingto determine the largest disturbance tolerance level and the smallest upper bound of therestricted L₂-gain are presented by solving a convex optimization problem with lineamatrix inequality constraints. An illustrative numerical example is given to demonstratethe feasibility and effectiveness of the proposed method.