Abstractions of Hamiltonian Control Systems
Files
Penn collection
General Robotics, Automation, Sensing and Perception Laboratory
Degree type
Discipline
Subject
Funder
Grant number
License
Copyright date
Distributor
Related resources
Author
Contributor
Abstract
Given a control system and a desired property, an abstracted system is a reduced system that preserves the property of interest while ignoring modeling detail. In previous work, we considered abstractions of linear and nonlinear analytic control systems while preserving reachability properties. In this paper we consider the abstraction problem for Hamiltonian control systems, that is, we preserve the Hamiltonian structure during the abstraction process. We show how the mechanical structure of Hamiltonian control systems can be exploited to simplify the abstraction computations and we provide conditions under which the local accessibility properties of the abstracted Hamiltonian system are equivalent to the local accessibility properties of the original Hamiltonian control system.
Advisor
Date of presentation
Conference name
Conference dates
Conference location
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Volume number
Issue number
Publisher
Publisher DOI
Comments
Copyright 2001 IEEE. Reprinted from Proceedings of the 40th IEEE Conference on Decision and Control 2001, pages 3394-3399 vol. 4. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.