Timing control of switched systems with applications to robotic marionettes

DOI10.1007/s10626-009-0059-6zbMath1197.93095OpenAlexW2034862602MaRDI QIDQ1959116

Patrick Martin, Magnus B. Egerstedt

Publication date: 6 October 2010

Published in: Discrete Event Dynamic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10626-009-0059-6

zbMATH Keywords

optimal controlroboticstime-switch optimization

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)

Related Items (5)

Switching design for suboptimal guaranteed cost control of 2-D nonlinear switched systems in the Roesser model ⋮ Global event-triggered output-feedback stabilization for switched nonlinear systems with time-delay and measurement sensitivity ⋮ Hybrid systems tools for compiling controllers for cyber-physical systems ⋮ ℋ₂ and ℋ_∞ analysis and state feedback control design for discrete-time constrained switched linear systems ⋮ Optimization of Multi-agent Motion Programs with Applications to Robotic Marionettes

Uses Software

• UMDES

Cites Work

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• Gradient descent approach to optimal mode scheduling in hybrid dynamical systems
• Motion Programs for Puppet Choreography and Control
• A unified framework for hybrid control: model and optimal control theory
• Optimal control of switched systems via non-linear optimization based on direct differentiations of value functions
• Feedback can reduce the specification complexity of motor programs
• Transition-Time Optimization for Switched-Mode Dynamical Systems

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