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Time reversal symmetries and zero dynamics for simple hybrid Hamiltonian control systems
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- Colombo, Leonardo (author)
- KTH,Reglerteknik,ACCESS Linnaeus Centre
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- Clark, W. (author)
- University of Michigan, Department of Mathematics, 530 Church St., Ann Arbor, 48109, MI, United States
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- Bloch, A. (author)
- University of Michigan, Department of Mathematics, 530 Church St., Ann Arbor, 48109, MI, United States
- (creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 2018
- 2018
- English.
- In: 2018 Annual American Control Conference (ACC). - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 2218-2223
- Conference paper (peer-reviewed)
Abstract
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- This paper studies Hamel's formalism for simple hybrid mechanical control systems and explores the role of time-reversal symmetries and hybrid zero dynamics to predict the existence of periodic orbits in these control system. A time reversal symmetry in the phase-space permits us to construct a time reversible hybrid Hamiltonian system. If the Hamiltonian function describing the continuous dynamics and the impact map are invariants under a time reversal symmetry on the zero hybrid dynamics, under some mild conditions, we find sufficient conditions for the existence of periodic solutions for the class of simple hybrid Hamiltonian control systems.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
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