Global controllability tests for geometric hybrid control systems

Autor: M. Barbero Liñán, Sonia Martinez, D. Martin de Diego, M. C. Muñoz Lecanda, Jorge E. Cortes

Publikováno v: Digital.CSIC. Repositorio Institucional del CSIC
instname
UPCommons. Portal del coneixement obert de la UPC
Universitat Politècnica de Catalunya (UPC)

This paper introduces a novel geometric framework to define and study hybrid systems. We exploit the geometry and topology of the set of jump points, where the instantaneous change of dynamics takes place, in order to gain controllability for the sys

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b78d7618a5036ff44656abc8af8154b7
http://hdl.handle.net/10261/226348

Tracking problem: higher order algorithms

Autor: M. Barbero–-Liñán, Mario Sigalotti

Publikováno v: IFAC Proceedings Volumes. 43:1017-1022

In this paper we propose new sufficient conditions ensuring that any curve on the configuration manifold of a mechanical control system can be tracked with arbitrary precision by an admissible trajectory of the system. We focus on forced affine conne

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::c5e729192a80f30a884e771c881a5f83
https://doi.org/10.3182/20100901-3-it-2016.00160

Optimal Control Problems for Affine Connection Control Systems: Characterization of Extremals

Autor: M. Barbero-Liñán, M. C. Muñoz-Lecanda, Rui Loja Fernandes, Roger Picken

Publikováno v: AIP Conference Proceedings.

Pontryagin's Maximum Principle [8] is considered as an outstanding achievement of optimal control theory. This Principle does not give sufficient conditions to compute an optimal trajectory; it only provides necessary conditions. Thus only candidates

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::f38c989ee87bab2b4ef5a2447321746a
https://doi.org/10.1063/1.2958162

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