Citation
Aaron Ames, Shankar Sastry. "Hybrid Routhian Reduction of Lagrangian Hybrid Systems". American Control Conference, June, 2006.

Abstract
This paper extends Routhian reduction to a hybrid setting, i.e., to systems that display both continuous and discrete behavior. We begin by considering a Lagrangian together with a configuration space with unilateral constraints on the set of admissible configurations. This naturally yields the notion of a hybrid Lagrangian, from which we obtain a Lagrangian hybrid system in a way analogous to the association of a Lagrangian vector field to a Lagrangian. We first give general conditions on when it is possible to reduce a cyclic Lagrangian hybrid system, and explicitly compute the reduced Lagrangian hybrid system in the case when it is obtained from a cyclic hybrid Lagrangian.

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  Aaron Ames, Shankar Sastry. <a
  href="http://chess.eecs.berkeley.edu/pubs/128.html"
  >Hybrid Routhian Reduction of Lagrangian Hybrid
  Systems</a>, American Control Conference, June, 2006.

• Plain text

  Aaron Ames, Shankar Sastry. "Hybrid Routhian Reduction
  of Lagrangian Hybrid Systems". American Control
  Conference, June, 2006.

• BibTeX

  @inproceedings{AmesSastry06_HybridRouthianReductionOfLagrangianHybridSystems,
      author = {Aaron Ames and Shankar Sastry},
      title = {Hybrid Routhian Reduction of Lagrangian Hybrid
                Systems},
      booktitle = {American Control Conference},
      month = {June},
      year = {2006},
      abstract = {This paper extends Routhian reduction to a hybrid
                setting, i.e., to systems that display both
                continuous and discrete behavior. We begin by
                considering a Lagrangian together with a
                configuration space with unilateral constraints on
                the set of admissible configurations. This
                naturally yields the notion of a hybrid
                Lagrangian, from which we obtain a Lagrangian
                hybrid system in a way analogous to the
                association of a Lagrangian vector field to a
                Lagrangian. We first give general conditions on
                when it is possible to reduce a cyclic Lagrangian
                hybrid system, and explicitly compute the reduced
                Lagrangian hybrid system in the case when it is
                obtained from a cyclic hybrid Lagrangian.},
      URL = {http://chess.eecs.berkeley.edu/pubs/128.html}
  }
  

Posted by Aaron Ames on 15 May 2006.
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