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HYBRID
2007
Springer

Modeling and Optimal Control of Hybrid Rigidbody Mechanical Systems

10 years 2 months ago
Modeling and Optimal Control of Hybrid Rigidbody Mechanical Systems
Abstract. A measure differential inclusion (MDI) based modeling approach for rigidbody mechanical systems will be introduced, that can exhibit autonomous or controlled mode transitions, accompanied by discontinuities on velocity and acceleration level. The hybrid optimal control necessitates the consideration of an uncommon concept of control, namely, controls of unbounded, impulsive and set-valued type. Examples to manipulators and wheeled robots are presented.
Kerim Yunt, Christoph Glocker
Added 07 Jun 2010
Updated 07 Jun 2010
Type Conference
Year 2007
Where HYBRID
Authors Kerim Yunt, Christoph Glocker
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