# Switching control for incremental stabilization of nonlinear systems via contraction theory

arXiv: https://arxiv.org/abs/1510.08368 · HTML: https://mlsanity.com/paper/1510.08368/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 Oct 2015.

## Built on by (most cited first, 1 of 1)

- [Towards Safe Path Tracking Using the Simplex Architecture](https://mlsanity.com/paper/2503.10559/) (2025)

## Abstract (arXiv)

In this paper we present a switching control strategy to incrementally stabilize a class of nonlinear dynamical systems. Exploiting recent results on contraction analysis of switched Filippov systems derived using regularization, sufficient conditions are presented to prove incremental stability of the closed-loop system. Furthermore, based on these sufficient conditions, a design procedure is proposed to design a switched control action that is active only where the open-loop system is not sufficiently incrementally stable in order to reduce the required control effort. The design procedure to either locally or globally incrementally stabilize a dynamical system is then illustrated by means of a representative example.