Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
751865 | Systems & Control Letters | 2016 | 7 Pages |
Abstract
•Under dwell time constraint, switched systems converge to a set in finite time.•Subsequently, trajectories remain within a larger invariant set.•Optimization of tuning parameters is a tradeoff between spatial/ temporal bounds.
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.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Michael Dorothy, Soon-Jo Chung,