A switched system is a hybrid dynamical system consisting of a family of continuous-time subsystems and a rule that orchestrates the switching between them. Many systems encountered in practice exhibit switching between several subsystems that is dependant on various environmental factorss1]. In this lecture we are going to go over two robotic applications of switched sytems. Namely, Underactua...

Given a multi-modal dynamical system, optimal switching logic synthesis involves generating the conditions for switching between the system modes such that the resulting hybrid system satisfies a quantitative specification. We formalize and solve the problem of optimal switching logic synthesis for quantitative specifications over long run behavior. Our paper generalizes earlier work on synthes...

In this paper we present a tutorial overview of some of the issues that arise in the design of switched linear control systems. Particular emphasis is given to issues relating to stability and control system realisation. A benchmark regulation problem is then presented. This problem is most naturally solved by means of a switched control design. The challenge to the community is to design a con...

This paper presents the results of simulation and control experiments using a recently proposed method for real-time switching among a pool of controllers. The switching strategy selects the current controller based on neural network estimates of the future system performance for each controller. This neural-network-based switching controller has been implemented for a simulated inverted pendul...

Smart switching system is designed for smart home control applications. The system uses real time programmable logic controller (PLC) for switching the electrical appliances. Electrical appliance is a part of our daily needs for mankind. When such needs are in a very high demand, the user’s requirement is also increasing to access their electrical appliances in a more flexible way and also safe...

Abstract: This paper deals with the design problem of reliable H� fuzzy switching controllers for continuoustime nonlinear systems with different actuator fault mode. First, the Takagi-Sugeno (T-S) fuzzy model is employed to represent a nonlinear system. Next, based on the fuzzy model, a faulty switched system is constructed to model various classes of faulty nonlinear systems. The objective is...

This paper presents new results on switching control using neural networks. Given a set of candidate controllers, a pair of neural networks is trained to identify the stability region and estimate the closed-loop performance for each controller. The neural network outputs are used in the on-line switching rule to select the controller output to be applied to the system during each control perio...

This paper considers the stabilization of switching nonlinear models by switching between the subsystems. We assume that arbitrary switching between two subsystems is possible once a subsystem has been active for a predefined number of samples. We use a Takagi-Sugeno representation of the models and a switching Lyapunov function is employed to develop sufficient stability conditions. If the con...

We derive sufficient conditions for the solvability of the observer design problem for a wide class of nonlinear time-varying systems, including those having triangular structure. We establish that, under weaker assumptions than those imposed in the existing works in the literature, it is possible to construct a switching sequence of time-varying noncausal dynamics, exhibiting the state determi...