Stability Analysis of Equilibrium Positions for a Class of Nonlinear Hybrid Mechanical Systems

摘要

Mechanical systems with nonswitched linear velocity forces and switched nonlinear nonhomogeneous positional forces are studied. By the use of the Lyapunov direct method and the decomposition method, conditions are found under which one can guarantee the asymptotic stability of the trivial equilibrium position for an arbitrary admissible switching law. An example is presented to demonstrate the effectiveness of the obtained results.