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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. https://resolver.caltech.edu/CaltechAUTHORS:20190307-110301990

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Abstract

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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ACC.2006.1656621DOIArticle
ORCID:
AuthorORCID
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
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190307-110301990
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
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:07 Mar 2019 21:29
Last Modified:03 Oct 2019 20:56

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