Double‐Layer Switching Design for Switched Nonlinear Systems With Guaranteed Safety Performance

This article provides a double‐layer switching method that guarantees asymptotic stability (AS) with safety performance for switched nonlinear systems, where different safety zones are allowed for different subsystems, and the safety performance is not necessarily possessed for each subsystem. Moreover, through the incorporation of the proposed switching framework, the safe operating region of switched systems is significantly extended, while the Zeno phenomenon is also guaranteed to be avoided. Meanwhile, sufficient conditions are derived by integrating multiple barrier functions (MBFs) and multiple Lyapunov functions (MLFs) based on different definitions of regions in accordance with distinct performance requirements. Finally, two examples are presented to validate the proposed approach's feasibility.