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Hybrid Routhian reduction of Lagrangian hybrid systems

Ames, Aaron D. and Sastry, Shankar (2006) Hybrid Routhian reduction of Lagrangian hybrid systems. In: 2006 American Control Conference. IEEE , Piscataway, NJ, pp. 2640-2645. ISBN 1-4244-0209-3.

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This paper extends Routhian reduction to a hybrid setting, i.e., to systems that display both continuous and discrete behavior. We begin by considering a Lagrangian together with a configuration space with unilateral constraints on the set of admissible configurations. This naturally yields the notion of a hybrid Lagrangian, from which we obtain a Lagrangian hybrid system in a way analogous to the association of a Lagrangian vector field to a Lagrangian. We first give general conditions on when it is possible to reduce a cyclic Lagrangian hybrid system, and explicitly compute the reduced Lagrangian hybrid system in the case when it is obtained from a cyclic hybrid Lagrangian.

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Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2006 IEEE. The first author would like to thank Francesco Bullo for encouraging the author to look into this topic, and Jessy Grizzle for first introducing the author to the importance of symmetries in mechanical systems.
Record Number:CaltechAUTHORS:20190307-110301990
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Official Citation:A. D. Ames and S. Sastry, "Hybrid Routhian reduction of Lagrangian hybrid systems," 2006 American Control Conference, Minneapolis, MN, 2006, pp. 6 pp.-. doi: 10.1109/ACC.2006.1656621
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:93633
Deposited By: Tony Diaz
Deposited On:07 Mar 2019 21:29
Last Modified:16 Nov 2021 16:59

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