Switched systems with multiple invariant sets

Michael Dorothy; Soon Jo Chung

doi:10.1016/j.sysconle.2016.07.008

Switched systems with multiple invariant sets

Michael Dorothy, Soon Jo Chung

Research output: Contribution to journal › Article › peer-review

Abstract

This paper explores dwell time constraints on switched systems with multiple, possibly disparate invariant limit sets. We show that, under suitable conditions, trajectories globally converge to a superset of the limit sets and then remain in a second, larger superset. We show the effectiveness of the dwell-time conditions by using examples of switching limit cycles commonly found in robotic locomotion and flapping flight.

Original language	English (US)
Pages (from-to)	103-109
Number of pages	7
Journal	Systems and Control Letters
Volume	96
DOIs	https://doi.org/10.1016/j.sysconle.2016.07.008
State	Published - Oct 1 2016

Keywords

Non-equilibrium steady state
Set-based control
Switched systems

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science(all)
Mechanical Engineering
Electrical and Electronic Engineering

Online availability

10.1016/j.sysconle.2016.07.008

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title = "Switched systems with multiple invariant sets",

abstract = "This paper explores dwell time constraints on switched systems with multiple, possibly disparate invariant limit sets. We show that, under suitable conditions, trajectories globally converge to a superset of the limit sets and then remain in a second, larger superset. We show the effectiveness of the dwell-time conditions by using examples of switching limit cycles commonly found in robotic locomotion and flapping flight.",

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AB - This paper explores dwell time constraints on switched systems with multiple, possibly disparate invariant limit sets. We show that, under suitable conditions, trajectories globally converge to a superset of the limit sets and then remain in a second, larger superset. We show the effectiveness of the dwell-time conditions by using examples of switching limit cycles commonly found in robotic locomotion and flapping flight.

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KW - Set-based control

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Switched systems with multiple invariant sets

Abstract

Keywords

ASJC Scopus subject areas

Online availability

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