  Autonomous agents are often tasked with operating in an area where feedback
is unavailable. Inspired by such applications, this paper develops a novel
switched systems-based control method for uncertain nonlinear systems with
temporary loss of state feedback. To compensate for intermittent feedback, an
observer is used while state feedback is available to reduce the estimation
error, and a predictor is utilized to propagate the estimates while state
feedback is unavailable. Based on the resulting subsystems, maximum and minimum
dwell time conditions are developed via a Lyapunov-based switched systems
analysis to relax the constraint of maintaining constant feedback. Using the
dwell time conditions, a switching trajectory is developed to enter and exit
the feedback denied region in a manner that ensures the overall switched system
remains stable. A scheme for designing a switching trajectory with a smooth
transition function is provided. Simulation and experimental results are
presented to demonstrate the performance of control design.
