The Interplay Between Symmetries and Impact Effects on Hybrid Mechanical Systems
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
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| _version_ | 1866909142498672640 |
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| author | Clark, William Colombo, Leonardo Bloch, Anthony |
| author_facet | Clark, William Colombo, Leonardo Bloch, Anthony |
| contents | 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 define two classes of impacts for the discrete-time transition of the dynamics: interior impacts and exterior impacts. In this paper we define hybrid systems on principal bundles, study the underlying geometry on the switching surface where impacts occur and we find conditions for which both exterior and interior impacts are preserved by the mechanical connection induced in the principal bundle. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_12842 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | The Interplay Between Symmetries and Impact Effects on Hybrid Mechanical Systems Clark, William Colombo, Leonardo Bloch, Anthony Robotics Differential Geometry 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 define two classes of impacts for the discrete-time transition of the dynamics: interior impacts and exterior impacts. In this paper we define hybrid systems on principal bundles, study the underlying geometry on the switching surface where impacts occur and we find conditions for which both exterior and interior impacts are preserved by the mechanical connection induced in the principal bundle. |
| title | The Interplay Between Symmetries and Impact Effects on Hybrid Mechanical Systems |
| topic | Robotics Differential Geometry |
| url | https://arxiv.org/abs/2403.12842 |