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ICRA
1998
IEEE

Stabilization of Systems with Changing Dynamics by Means of Switching

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Stabilization of Systems with Changing Dynamics by Means of Switching
We present a framework for designing stable control schemes for systems whose dynamics change. The idea is to develop a controller for each of the regions defined by different dynamic characteristics and design a switching scheme that guarantees the stability of the overall system. We derive sufficient conditions for the stability of the switching scheme for systems evolving on a sequence of embedded manifolds. An important feature of the proposed framework is that if the conditions are satisfied by pairs of controllers adjacent in the hierarchy, the overall system will be stable. This makes the application of our results particularly straight forward. The methodology is applied to stabilization of a shimmying wheel, where changes in the dynamic behavior are due to switches between sliding and rolling.
Milos Zefran, Joel W. Burdick
Added 04 Aug 2010
Updated 04 Aug 2010
Type Conference
Year 1998
Where ICRA
Authors Milos Zefran, Joel W. Burdick
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