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19

HYBRID
2007
Springer

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Modeling and Optimal Control of Hybrid Rigidbody Mechanical Systems

13 years 11 months ago

Modeling and Optimal Control of Hybrid Rigidbody Mechanical Systems

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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

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Controlled Mode Transitions | HYBRID 2007 | Hybrid Optimal Control | Hybrid Systems | Measure Diﬀerential Inclusion |

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Added	07 Jun 2010
Updated	07 Jun 2010
Type	Conference
Year	2007
Where	HYBRID
Authors	Kerim Yunt, Christoph Glocker

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