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Kinematic reducibility of multiple model systems

Murphey, T. D. and Burdick, J. W. (2003) Kinematic reducibility of multiple model systems. In: 42nd IEEE International Conference on Decision and Control. Vol.5. IEEE , Piscataway, NJ, pp. 5307-5313. ISBN 0-7803-7924-1. https://resolver.caltech.edu/CaltechAUTHORS:20190627-093513649

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Abstract

This paper considers the relationship between second order multiple model systems and first order multiple model systems. Such a relationship is important to, among other things, studying path planning for mechanical control systems. This is largely due to the fact that the computational complexity of a path planning problem rapidly increases with the dimension of the state space, implying that being able to reduce a path planning problem from TQ to Q can be helpful. Not surprisingly, the necessary and sufficient condition for such a reduction is that each model constituting a multiple model control system be reducible. We present an extensive example in order to illustrate how these results can provide insight into the control of some specific physical systems.


Item Type:Book Section
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https://doi.org/10.1109/CDC.2003.1272481DOIArticle
Additional Information:© 2003 IEEE.
Record Number:CaltechAUTHORS:20190627-093513649
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190627-093513649
Official Citation:T. D. Murphey and J. W. Burdick, "Kinematic reducibility of multiple model systems," 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475), Maui, HI, 2003, pp. 5307-5313 Vol.5. doi: 10.1109/CDC.2003.1272481
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96770
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:27 Jun 2019 18:52
Last Modified:03 Oct 2019 21:25

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