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Hybrid Routhian reduction of Lagrangian hybrid systems

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2 Author(s)
Ames, A.D. ; Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA ; Sastry, S.

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

Published in:

American Control Conference, 2006

Date of Conference:

14-16 June 2006