Kinematic Reducibility of Multiple Model Systems

T. D. Murphey*, J. W. Burdick

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

1 Scopus citations

Abstract

This paper considers the relationship between second order multiple model systems and first order multiple model systems. Such a relationship is important to, among other things, studying path planning for mechanical control systems. This is largely due to the fact that the computational complexity of a path planning problem rapidly increases with the dimension of the state space, implying that being able to reduce a path planning problem from TQ to Q can be helpful. Not surprisingly, the necessary and sufficient condition for such a reduction is that each model constituting a multiple model control system be reducible. We present an extensive example in order to illustrate how these results can provide insight into the control of some specific physical systems.

Original languageEnglish (US)
Pages (from-to)5307-5313
Number of pages7
JournalProceedings of the IEEE Conference on Decision and Control
Volume5
StatePublished - Dec 1 2003
Event42nd IEEE Conference on Decision and Control - Maui, HI, United States
Duration: Dec 9 2003Dec 12 2003

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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