(Georgia Institute of Technology, 2007-07)
Mehta, Tejas R.; Yeung, Deryck; Verriest, Erik I.; Egerstedt, Magnus B.
In this paper, we study hybrid models that not
only undergo mode transitions, but also experience changes
in dimensions of the state and input spaces. An algorithmic
framework for the optimal control of such Multi-Mode, Multi- Dimension (or M[3]D) systems is presented. We moreover derive
a detailed M[3]D model for an ice-skater, and demonstrate the
use of the developed framework on the ice-skater model.