4 papers · 1 filter
A Generalized Metriplectic System via Free Energy and System~Identification via Bilevel Convex Optimization
Sangli Teng, Kaito Iwasaki, William Clark +4
This work generalizes the classical metriplectic formalism to model Hamiltonian systems with nonconservative dissipation. Classical metriplectic representations allow for the descr…
Optimal Control of Reduced Left-Invariant Hybrid Control Systems
William Clark, Maria Oprea
Optimal control is ubiquitous in many fields of engineering. A common technique to find candidate solutions is via Pontryagin's maximum principle. An unfortunate aspect of this met…
The Interplay Between Symmetries and Impact Effects on Hybrid Mechanical Systems
William Clark, Leonardo Colombo, Anthony Bloch
Hybrid systems are dynamical systems with continuous-time and discrete-time components in their dynamics. When hybrid systems are defined on a principal bundle we are able to defin…
Optimal Control of Hybrid Systems with Submersive Resets
William Clark, Maria Oprea, Aden Shaw
Hybrid dynamical systems are systems which posses both continuous and discrete transitions. Assuming that the discrete transitions (resets) occur a finite number of times, the opti…