Symmetry exploiting control of hybrid mechanical systems. (English) Zbl 1353.37172
Summary: Symmetry properties such as invariances of mechanical systems can be beneficially exploited in solution methods for control problems. A recently developed approach is based on quantization by so called motion primitives. A library of these motion primitives forms an artificial hybrid system. In this contribution, we study the symmetry properties of motion primitive libraries of mechanical systems in the context of hybrid symmetries. Furthermore, the classical concept of symmetry in mechanics is extended to hybrid mechanical systems and an extended motion planning approach is presented.
MSC:
| 37N35 | Dynamical systems in control |
| 37C80 | Symmetries, equivariant dynamical systems (MSC2010) |
| 93C30 | Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) |
| 70Q05 | Control of mechanical systems |
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