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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Document Details

Document Type
Technical Report
Publication Date
May 06, 2015
Accession Number
ADA625045

Entities

People

  • Michael Dorothy
  • Soon-Jo Chung

Organizations

  • University of Illinois Urbana–Champaign

Tags

Communities of Interest

  • Autonomy
  • Space

DTIC Thesaurus Topics

  • Aircrafts
  • Construction
  • Differential Equations
  • Dwell Time
  • Engineering
  • Hybrid Systems
  • Illinois
  • Information Operations
  • Locomotion
  • Lyapunov Functions
  • Mathematical Analysis
  • Nonlinear Analysis
  • Switches
  • Switching
  • Theorems
  • Time Intervals
  • Trajectories

Fields of Study

  • Physics

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Graph Algorithms and Convex Optimization.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Neural Networks
  • Autonomy