2025/10/20 by Mirko Mizzoni, Mizzoni, Mirko, Pieter van Goor +5
Engineering · #Adaptive Control of Nonlinear Systems #Control Systems and Identification #Dynamical Systems (math.DS) #FOS: Computer and information sciences #FOS: Mathematics #Robotics (cs.RO) #Stability and Control of Uncertain Systems
paper · pdf · doi:10.48550/arxiv.2510.17448
openalex publication_date 2025/10/20 · openalex created_date 2025/10/22 · openalex updated_date 2026/07/30
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.