Published June 2006
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Hybrid Routhian reduction of Lagrangian hybrid systems
- Creators
- Ames, Aaron D.
- Sastry, Shankar
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.
Additional Information
© 2006 IEEE. The first author would like to thank Francesco Bullo for encouraging the author to look into this topic, and Jessy Grizzle for first introducing the author to the importance of symmetries in mechanical systems.Attached Files
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- Eprint ID
- 93633
- Resolver ID
- CaltechAUTHORS:20190307-110301990
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