Geometric Hybrid Dynamical Systems: Part I - Modeling and Stability

We present a framework for the modeling and analysis of geometric hybrid dynamical systems as hybrid inclusions on $C^1$-manifolds. Using tools from nonsmooth and set-valued analysis on manifolds, we derive coordinate-independent sufficient conditions for the existence of nontrivial solutions to this type of systems. We present geometric notions of uniform stability and attractivity of compact sets, and establish their equivalence to metric-based stability notions when the manifold is endowed with a Riemannian structure. We also introduce nonsmooth Lyapunov functions and a hybrid Lyapunov theorem providing sufficient conditions for uniform global asymptotic stability of compact sets. Finally, by characterizing $\omega$-limit sets of precompact solutions, we derive a hybrid invariance principle for geometric hybrid dynamical systems. The results are demonstrated through several running examples.