Stability Analysis and Fuzzy Control for Singular Switched Systems with Nonlinear Dynamics

This paper investigates the stability and stabilization for a class of nonlinear singular switched systems in the continuous-time domain. To accurately model the nonlinear dynamics, the Takagi-Sugeno (T-S) fuzzy method is incorporated into singular switched systems. Besides, mode-dependent singularity matrices are considered, providing greater generality compared to the mode-independent ones commonly used in previous studies. Numerically testable stability and stabilization criteria are derived through the multiple Lyapunov function approach. Finally, the proposed method is applied to Hybrid Terrestrial and Aerial Quadrotors (HyTAQs) for large-angle maneuvering tasks, demonstrating the validity of the designed controllers.