Work

Switching among feedback-linearizing output sets (melds): Dwell-time and compatibility guarantees

Year: 2026

Type: article

Abstract: 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 represented explicitly in standard fixed-coordinate dwell-time formulations. 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 the controller decay rates, the reference-compatibility constant, and a bound on the desired-jet resets. The resulting condition guarantees exponential decay of the active-output tracking errors between switches, conditional seamless tracking of shared outputs whose desired jets do not reset, and uniform boundedness of the state error within the safe set. Safe-set invariance follows under an explicit margin condition. A planar 3R manipulator illustrates the results.

Source: Systems & Control Letters

DOI: 10.1016/j.sysconle.2026.106618

Authors: Mirko Mizzoni, Pieter van Goor, Barbara Bazzana, Antonio Franchi

Institutions: University of Twente, Sapienza University of Rome

Language: English

Topic: Control and Stability of Dynamical Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $2,910

Funders: HORIZON EUROPE Framework Programme, HORIZON EUROPE Marie Sklodowska-Curie Actions