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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.

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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.

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Additional Information:© 2003 IEEE.
Record Number:CaltechAUTHORS:20190627-093513649
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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
Deposited By: Tony Diaz
Deposited On:27 Jun 2019 18:52
Last Modified:03 Oct 2019 21:25

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