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Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry

Ames, Aaron D. and Sastry, Shankar (2006) Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry. In: 2006 American Control Conference. IEEE , Piscataway, NJ, pp. 2646-2651. ISBN 1-4244-0209-3. https://resolver.caltech.edu/CaltechAUTHORS:20190306-123956663

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Abstract

This paper begins by introducing the notion of a simple hybrid mechanical system, which generalizes mechanical systems to include unilateral constraints on the configuration space. From such a system we obtain, explicitly, a simple hybrid system. The main contribution of this paper is to provide conditions on when it is possible to reduce the phase space of hybrid systems obtained from simple hybrid mechanical systems, and general simple hybrid systems, due to symmetries in the systems. Specifically, given a Hamiltonian G-space minus; which is the ingredient needed to reduce continuous systems - we find conditions on the hybrid system and the G-space so that reduction can be carried out in a hybrid setting - conditions that are explicitly related to conditions on the original hybrid mechanical system.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ACC.2006.1656622DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2006 IEEE. This research is supported by the National Science Foundation (NSF award number CCR-0225610.
Funders:
Funding AgencyGrant Number
NSFCCR-0225610
Record Number:CaltechAUTHORS:20190306-123956663
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190306-123956663
Official Citation:A. D. Ames and S. Sastry, "Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry," 2006 American Control Conference, Minneapolis, MN, 2006, pp. 6 pp.-. doi: 10.1109/ACC.2006.1656622
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:93593
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:06 Mar 2019 20:43
Last Modified:03 Oct 2019 20:55

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