Cooperative Stabilization for High-Order Fully Actuated Switched Systems with Completely Uncontrollable Subsystems

Recently, the high-order fully actuated system (HOFAS) approach has been established as a powerful framework in control theory, yet its application has primarily focused on pure dynamical systems. In this paper, a novel single-input high-order fully actuated switched systems model is established, extending the HOFAS approach from pure dynamical systems to hybrid systems. Then, a cooperative stabilization method based on the dwell time is developed for high-order fully actuated switched systems including completely uncontrollable subsystems. The proposed controllers guarantee the global asymptotic convergence of the high-order fully actuated switched system. Moreover, a new effective restriction on the switching signal based on the π frequency of activation of subsystems is proposed, which provides a refined condition for characterizing permissible switching signals. Finally, the effectiveness of the novel criterion is demonstrated by a well-studied numerical example.