2021/11/23 by William Clark, Clark, William, Maria Oprea +3
Engineering · #34A38 #37J39 #49N25 #Control and Dynamics of Mobile Robots #Dynamical Systems (math.DS) #Dynamics and Control of Mechanical Systems #FOS: Mathematics #Optimization and Control (math.OC) #Stability and Control of Uncertain Systems
paper · pdf · doi:10.48550/arxiv.2111.11645
openalex publication_date 2021/11/23 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Hybrid dynamical systems are systems which undergo both continuous and discrete transitions. The Bolza problem from optimal control theory is applied to these systems and a hybrid version of Pontryagin's maximum principle is presented. This hybrid maximum principle is presented to emphasize its geometric nature which makes its study amenable to the tools of geometric mechanics and symplectic geometry. One explicit benefit of this geometric approach is that Zeno behavior can be strongly controlled for "generic" control problems. Moreover, when the underlying control system is a mechanical impact system, additional structure is present which can be exploited and is thus explored. Multiple examples are presented for both mechanical and non-mechanical systems.