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Stabilization of systems with changing dynamics by means of switching

Žefran, Miloš and Burdick, Joel W. (1998) Stabilization of systems with changing dynamics by means of switching. In: Proceedings of 1998 IEEE International Conference on Robotics and Automation. Vol.2. IEEE , Piscataway, NJ, pp. 1090-1095. ISBN 0-7803-4300-X.

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We present a framework for designing stable control schemes for systems whose dynamics change. The idea is to develop a controller for each of the regions defined by different dynamic characteristics and design a switching scheme that guarantees the stability of the overall system. We derive sufficient conditions for the stability of the switching scheme for systems evolving on a sequence of embedded manifolds. An important feature of the proposed framework is that if the conditions are satisfied by pairs of controllers adjacent in the hierarchy, the overall system will be stable. This makes the application of our results particularly straight forward. The methodology is applied to stabilization of a shimmying wheel, where changes in the dynamic behaviour are due to switches between sliding and rolling.

Item Type:Book Section
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Additional Information:© 1998 IEEE. This research was supported by NSF grant CISE 9704702 and AFOSR MURI grant.
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Air Force Office of Scientific Research (AFOSR)UNSPECIFIED
Record Number:CaltechAUTHORS:20190621-160746632
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Official Citation:M. Zefran and J. W. Burdick, "Stabilization of systems with changing dynamics by means of switching," Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), Leuven, Belgium, 1998, pp. 1090-1095 vol.2. doi: 10.1109/ROBOT.1998.677236
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96644
Deposited By: Tony Diaz
Deposited On:22 Jun 2019 18:17
Last Modified:16 Nov 2021 17:22

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