A new energy-optimised switching control law is proposed for a type of nonlinear systems based on orthogonal decomposition Hamiltonian realisation (ODHR). The proposed method guarantees the global asymptotic stability of the zero equilibrium point of the closed-loop system. Different from the existing ODHR-based control-switching strategy, the control law designed in this paper allows multiple control inputs to work simultaneously. Moreover, it is verified that the peak values of the control inputs and the energy consumed by the control inputs are both much smaller compared to the conventional method. A numerical example is considered and comparative simulations are carried out to verify the effect and superiority of the proposed method.

中文翻译：

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一类非线性系统的全局稳定切换控制律设计

针对一类基于正交分解哈密顿实现(ODHR)的非线性系统，提出了一种新的能量优化切换控制律。该方法保证了闭环系统零平衡点的全局渐近稳定性。与现有的基于 ODHR 的控制切换策略不同，本文设计的控制律允许多个控制输入同时工作。此外，经验证，与传统方法相比，控制输入的峰值和控制输入消耗的能量都小得多。结合数值算例进行对比仿真，验证了所提方法的有效性和优越性。