Switching of Asymptotically Stable and Uniformly Ultimately Bounded Systems With Applications to Machine Vision

This paper addresses the stability of switching between a uniformly ultimately bounded (UUB) system and an asymptotically stable system with asymptotically decaying perturbation using multiple Lyapunov functions. It is proven that the switched system trajectories remain UUB if an average dwell time condition is satisfied, and the perturbation terms are bounded with a sufficiently small magnitude. The developed switched system stability results are applied to the state estimation of the perspective dynamical system in the presence of intermittent and biased velocity measurements using switched observers. Numerical simulations demonstrate the advantages of using the developed switched observer versus the individual observers.