Model Reduction Near Periodic Orbits of Hybrid Dynamical Systems

DOI10.1109/TAC.2015.2411971MaRDI QIDQ2982543zbMATH OpenOpenAlexFDO

Authors Samuel A. Burden, Shai Revzen, S. Shankar Sastry

Publication date 16 May 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1308.4158

Mathematics Subject Classification ID

Approximate trajectories (pseudotrajectories, shadowing, etc.) in smooth dynamics (37C50) Dynamical systems in control (37N35) System structure simplification (93B11) Geometric methods (93B27)

Abstract: We show that, near periodic orbits, a class of hybrid models can be reduced to or approximated by smooth continuous-time dynamical systems. Specifically, near an exponentially stable periodic orbit undergoing isolated transitions in a hybrid dynamical system, nearby executions generically contract superexponentially to a constant-dimensional subsystem. Under a non-degeneracy condition on the rank deficiency of the associated Poincare map, the contraction occurs in finite time regardless of the stability properties of the orbit. Hybrid transitions may be removed from the resulting subsystem via a topological quotient that admits a smooth structure to yield an equivalent smooth dynamical system. We demonstrate reduction of a high-dimensional underactuated mechanical model for terrestrial locomotion, assess structural stability of deadbeat controllers for rhythmic locomotion and manipulation, and derive a normal form for the stability basin of a hybrid oscillator. These applications illustrate the utility of our theoretical results for synthesis and analysis of feedback control laws for rhythmic hybrid behavior.

Cited in

(9)

• Offline state estimation for hybrid systems via nonsmooth variable projection
• Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: application to bipedal locomotion
• Invariant forms in hybrid and impact systems and a taming of Zeno
• Event-selected vector field discontinuities yield piecewise-differentiable flows
• The role of symmetry and dissipation in biolocomotion
• Shape versus Timing: Linear Responses of a Limit Cycle with Hard Boundaries under Instantaneous and Static Perturbation
• Conley's fundamental theorem for a class of hybrid systems
• Reduction Theorems for Hybrid Dynamical Systems
• Model reduction of periodic systems: a lifting approach

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