Switching control of underactuated multi-channel systems with input constraints for cooperative manipulation Article Swipe
This work presents an event-triggered switching control framework for a class of nonlinear underactuated multi-channel systems with input constraints. These systems are inspired by cooperative manipulation tasks involving underactuation, where multiple underactuated agents collaboratively push or pull an object to a target pose. Unlike existing approaches for multi-channel systems, our method addresses underactuation and the potential loss of controllability by additionally addressing channel assignment of agents. To simultaneously account for channel assignment, input constraints, and stabilization, we formulate the control problem as a Mixed Integer Linear Programming and derive sufficient conditions for its feasibility. To improve real-time computation efficiency, we introduce an event-triggered control scheme that maintains stability even between switching events through a quadratic programming-based stabilizing controller. We theoretically establish the semi-global exponential stability of the proposed method and the asymptotic stability of its extension to nonprehensile cooperative manipulation under noninstantaneous switching. The proposed framework is further validated through numerical simulations on 2D and 3D free-flyer systems and multi-robot nonprehensile pushing tasks.
Related Topics
Concepts
Underactuation
Control theory (sociology)
Controllability
Computer science
Exponential stability
Stability (learning theory)
Computation
Nonlinear system
Control (management)
Channel (broadcasting)
Controller (irrigation)
Quadratic equation
Class (philosophy)
Dual (grammatical number)
Object (grammar)
Scheme (mathematics)
Extension (predicate logic)
Mathematical optimization
Nonlinear control
Actuator
Control system
Work (physics)
Quadratic programming
Linear system
Exponential function
Control channel
Control engineering
Optimal control
Envelope (radar)
Metadata
- Type
- article
- Landing Page
- http://arxiv.org/abs/2511.22810
- https://arxiv.org/pdf/2511.22810
- OA Status
- green
- OpenAlex ID
- https://openalex.org/W7108247871
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W7108247871Canonical identifier for this work in OpenAlex
- Title
-
Switching control of underactuated multi-channel systems with input constraints for cooperative manipulationWork title
- Type
-
articleOpenAlex work type
- Publication year
-
2025Year of publication
- Publication date
-
2025-11-27Full publication date if available
- Authors
-
Lee Dongjae, Dimarogonas, Dimos V., Kim H. JinList of authors in order
- Landing page
-
https://arxiv.org/abs/2511.22810Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2511.22810Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2511.22810Direct OA link when available
- Concepts
-
Underactuation, Control theory (sociology), Controllability, Computer science, Exponential stability, Stability (learning theory), Computation, Nonlinear system, Control (management), Channel (broadcasting), Controller (irrigation), Quadratic equation, Class (philosophy), Dual (grammatical number), Object (grammar), Scheme (mathematics), Extension (predicate logic), Mathematical optimization, Nonlinear control, Actuator, Control system, Work (physics), Quadratic programming, Linear system, Exponential function, Control channel, Control engineering, Optimal control, Envelope (radar)Top concepts (fields/topics) attached by OpenAlex
- Cited by
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0Total citation count in OpenAlex
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| abstract_inverted_index.asymptotic | 131 |
| abstract_inverted_index.conditions | 90 |
| abstract_inverted_index.free-flyer | 156 |
| abstract_inverted_index.sufficient | 89 |
| abstract_inverted_index.switching. | 142 |
| abstract_inverted_index.Programming | 86 |
| abstract_inverted_index.assignment, | 71 |
| abstract_inverted_index.computation | 97 |
| abstract_inverted_index.controller. | 117 |
| abstract_inverted_index.cooperative | 24, 138 |
| abstract_inverted_index.efficiency, | 98 |
| abstract_inverted_index.exponential | 123 |
| abstract_inverted_index.multi-robot | 159 |
| abstract_inverted_index.semi-global | 122 |
| abstract_inverted_index.simulations | 151 |
| abstract_inverted_index.stabilizing | 116 |
| abstract_inverted_index.additionally | 60 |
| abstract_inverted_index.constraints, | 73 |
| abstract_inverted_index.constraints. | 18 |
| abstract_inverted_index.feasibility. | 93 |
| abstract_inverted_index.manipulation | 25, 139 |
| abstract_inverted_index.multi-channel | 14, 47 |
| abstract_inverted_index.nonprehensile | 137, 160 |
| abstract_inverted_index.theoretically | 119 |
| abstract_inverted_index.underactuated | 13, 31 |
| abstract_inverted_index.simultaneously | 67 |
| abstract_inverted_index.stabilization, | 75 |
| abstract_inverted_index.underactuation | 52 |
| abstract_inverted_index.collaboratively | 33 |
| abstract_inverted_index.controllability | 58 |
| abstract_inverted_index.event-triggered | 4, 102 |
| abstract_inverted_index.underactuation, | 28 |
| abstract_inverted_index.noninstantaneous | 141 |
| abstract_inverted_index.programming-based | 115 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 3 |
| citation_normalized_percentile.value | 0.79736331 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |