Switching Among Feedback-Linearizing Output Sets (Melds): Dwell-Time and Compatibility Guarantees
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
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2025
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| _version_ | 1866908848119349248 |
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| author | Mizzoni, Mirko van Goor, Pieter Bazzana, Barbara Franchi, Antonio |
| author_facet | Mizzoni, Mirko van Goor, Pieter Bazzana, Barbara Franchi, Antonio |
| contents | 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 captured by classical switched-system analyses. 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 controller decay rates and the compatibility constant, that guarantees exponential decay of the active-output tracking errors between switches, seamless tracking of outputs shared by consecutive melds, and uniform boundedness of the state error within the safe set. A planar 3R manipulator illustrates the results. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_17448 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Switching Among Feedback-Linearizing Output Sets (Melds): Dwell-Time and Compatibility Guarantees Mizzoni, Mirko van Goor, Pieter Bazzana, Barbara Franchi, Antonio Robotics Dynamical Systems 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 captured by classical switched-system analyses. 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 controller decay rates and the compatibility constant, that guarantees exponential decay of the active-output tracking errors between switches, seamless tracking of outputs shared by consecutive melds, and uniform boundedness of the state error within the safe set. A planar 3R manipulator illustrates the results. |
| title | Switching Among Feedback-Linearizing Output Sets (Melds): Dwell-Time and Compatibility Guarantees |
| topic | Robotics Dynamical Systems |
| url | https://arxiv.org/abs/2510.17448 |