This letter presents a systematic framework for switching between different sets of outputs for the control of nonlinear systems via feedback linearization. We introduce the concept of a meld to formally define a valid, feedback-linearizable subset of outputs that can be selected from a larger deck of possible outputs. The main contribution is a formal proof establishing that under suitable dwell-time and compatibility conditions, it is possible to switch between different melds while guaranteeing the uniform boundedness of the system state. We further show that the error dynamics of the active outputs remain exponentially stable within each switching interval and that outputs common to consecutive melds are tracked seamlessly through transitions. The proposed theory is valid for any feedback linearizable nonlinear system, such as, e.g., robots, aerial and terrestrial vehicles, etc.. We demonstrate it on a simple numerical simulation of a robotic manipulator.

翻译：本文提出了一种通过反馈线性化控制非线性系统时在不同输出集合间进行切换的系统化框架。我们引入“融合”这一概念，以形式化定义可从更大可能输出集合中选取的有效、可反馈线性化的输出子集。主要贡献在于给出了形式化证明：在适当的驻留时间和相容性条件下，系统可在不同融合之间切换，同时保证系统状态的一致有界性。我们进一步证明，在每个切换区间内，活跃输出的误差动态保持指数稳定，且连续融合中共有的输出在过渡过程中可实现无缝跟踪。所提理论适用于任何可反馈线性化的非线性系统，例如机器人、空中与地面载具等。我们通过一个简单的机械臂数值仿真验证了该理论。