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Verriest, Erik I.

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Optimal Control of a Multi-Dimensional, Hybrid Ice-Skater Model

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.

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