• DocumentCode
    3172585
  • Title

    Optimal Control of Multi-Dimensional, Hybrid Ice-Skater Model

  • Author

    Mehta, Tejas R. ; Yeung, Deryck ; Verriest, Erik I. ; Egerstedt, Magnus

  • Author_Institution
    Georgia Inst. of Technol., Atlanta
  • fYear
    2007
  • fDate
    9-13 July 2007
  • Firstpage
    2787
  • Lastpage
    2792
  • Abstract
    In this paper, we study hybrid models that not only undergo mode transitions, but also experience changes in dimensions of the state and input spaces. An algorithmic framework for the optimal control of such multi-mode, multi-dimension (or M3 D) systems is presented. We moreover derive a detailed M3 D model for an ice-skater, and demonstrate the use of the developed framework on the ice-skater model.
  • Keywords
    continuous systems; discrete event systems; optimal control; hybrid ice-skater model; multidimension systems; multidimensional model; multimode systems; optimal control; Biological system modeling; Cities and towns; Embedded computing; Leg; Legged locomotion; Mobile robots; Multidimensional systems; Optimal control; Space technology; Torso;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 2007. ACC '07
  • Conference_Location
    New York, NY
  • ISSN
    0743-1619
  • Print_ISBN
    1-4244-0988-8
  • Electronic_ISBN
    0743-1619
  • Type

    conf

  • DOI
    10.1109/ACC.2007.4282923
  • Filename
    4282923
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3172585