ABSTRACT
This paper addresses the challenge of ensuring stability during rapid switching between control modes in dexterous manipulation. It presents a framework for analyzing switched systems, deriving dwell-time bounds for stability, and proposes a control architecture for real-time switching logic.
PAPER · PDF
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Key findings
Characterizes dwell-time bounds ensuring stability regardless of switching sequence.
Develops multiple Lyapunov functions for less conservative stability bounds.
Proposes a control architecture integrating dwell-time constraints for dexterous manipulation.
Limitations & open questions
Further empirical validation is needed for practical deployment.