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Hybrid Routhian Reduction of Lagrangian Hybrid Systems
Aaron Ames, Shankar Sastry

Citation
Aaron Ames, Shankar Sastry. "Hybrid Routhian Reduction of Lagrangian Hybrid Systems". American Control Conference, June, 2006.

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.

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Citation formats  
  • HTML
    Aaron Ames, Shankar Sastry. <a
    href="http://chess.eecs.berkeley.edu/pubs/128.html"
    >Hybrid Routhian Reduction of Lagrangian Hybrid
    Systems</a>, American Control Conference, June, 2006.
  • Plain text
    Aaron Ames, Shankar Sastry. "Hybrid Routhian Reduction
    of Lagrangian Hybrid Systems". American Control
    Conference, June, 2006.
  • BibTeX
    @inproceedings{AmesSastry06_HybridRouthianReductionOfLagrangianHybridSystems,
        author = {Aaron Ames and Shankar Sastry},
        title = {Hybrid Routhian Reduction of Lagrangian Hybrid
                  Systems},
        booktitle = {American Control Conference},
        month = {June},
        year = {2006},
        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.},
        URL = {http://chess.eecs.berkeley.edu/pubs/128.html}
    }
    

Posted by Aaron Ames on 15 May 2006.
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