提出输出切换的稳定机制，确保非线性系统在不同坐标系间切换时误差可控。
Switching Among Feedback-Linearizing Output Sets (Melds): Dwell-Time and Compatibility Guarantees
- 通过跨坐标图映射的Lipschitz约束分析切换带来的状态不匹配
- 给出依赖控制器衰减速率和兼容性常数的显式驻留时间条件
- 适用于需要动态切换输出反馈的机器人等高精度控制场景
研究静态输出反馈线性化非线性系统中，从候选输出集合中切换多个方阵输出（熔接）的问题。固定工作点下，每个熔接在公共邻域内诱导出不同的反馈线性化坐标图。熔接间的切换导致状态相关的坐标不匹配，经典切换系统分析无法捕捉此效应。本文通过紧致安全集上跨图映射的Lipschitz界量化该影响，并引入参考兼容性常数以衡量不同熔接间参考族的不一致性。推导出依赖控制器衰减速率与兼容性常数的显式驻留时间条件，可保证切换间主动输出跟踪误差指数衰减、连续熔接共享输出的无缝跟踪，以及安全集内状态误差一致有界。平面三连杆机械臂实例验证了结果。
原文摘要 · Abstract (English)
We study switching among multiple square selections of output functions (melds) drawn from a deck of candidate outputs for nonlinear systems that are static feedback linearizable via outputs. Fixing an operating point, each meld induces a distinct feedback-linearizing coordinate chart defined on a common neighborhood. Switching between melds therefore produces state-dependent coordinate mismatches that are not captured by classical switched-system analyses. We quantify this effect through Lipschitz bounds on the cross-chart maps over a compact safe set and introduce a reference-compatibility constant that measures mismatch among reference families across melds. We derive an explicit dwell-time condition depending on controller decay rates and the compatibility constant, that guarantees exponential decay of the active-output tracking errors between switches, seamless tracking of outputs shared by consecutive melds, and uniform boundedness of the state error within the safe set. A planar 3R manipulator illustrates the results.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。