Switching Control for Euler-Lagrange Dynamics: An Incremental Stability Approach

This paper discuses the stabilization problem in an Euler-Lagrange dynamics in the incremental stability framework. The work proposes the analysis in bimodal switched domain. The switching here is introduced intentionally in terms of control action to enhance robustness. In such setting, we derive sufficient conditions using matrix measure to show incremental stability in each mode and overall switched system. The proposition uses contraction theory approach to establish incremental stability. In this article, the selection of switching surface is as per the desired characteristics to be achieved. The objective is to minimise the stabilization error irrespective of the initial conditions, which is an inherent advantage of using Contraction theory. The adoption of this technique simplifies the analysis compared to the conventional framework. The efficacy of artefact is well supplemented by the simulation results. Copyright (C) 2022 The Authors.