Home

About

Advanced Search

Browse by Discipline

Scientific Societies

E-print Alerts

Add E-prints

E-print Network
FAQHELPSITE MAPCONTACT US


  Advanced Search  

 
Hybrid Routhian Reduction of Lagrangian Hybrid Systems Aaron D. Ames and Shankar Sastry
 

Summary: Hybrid Routhian Reduction of Lagrangian Hybrid Systems
Aaron D. Ames and Shankar Sastry
Department of Electrical Engineering and Computer Sciences
University of California at Berkeley
Berkeley, CA 94720
{adames,sastry}@eecs.berkeley.edu
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.
I. INTRODUCTION
Reduction of mechanical systems with symmetries plays

  

Source: Ames, Aaron - Department of Mechanical Engineering, Texas A&M University

 

Collections: Engineering