Optimization and Systems Theory Seminar
Wednesday, June 4, 2003, 11.00-12.00, Room 3721, Lindstedtsv. 25

Antonio Bicchi
Centro Interdipartimentale di Ricerca ``Enrico Piaggio''
UniversitÓ di Pisa

Quantized Control Systems and Hybrid Nonholonomy

In this paper we consider a particular class of dynamical systems, which are characterized by having a continuous state space but a discrete (quantized) input and/or output set. We will review applications where such systems are involved, and provide motivations for using a quantized control system model even for classical continuous systems. We will hence discuss the generalization of the classical notion of nonholonomy of (smooth) constraints as it is known from analytical mechanics, to a substantially wider set of systems, allowing for discrete and hybrid (mixed continuous and discrete) configurations and transitions. We show that the general notion of nonholonomy we are aiming at implies at least the definition of two different types of nonholonomic behaviours, which we call "internal" and "external", respectively. We report on three examples of simple mechanical systems exhibiting only internal, only external, or both internal and external nonholonomy, respectively.
Calendar of seminars
Last update: May 15, 2003 by Anders Forsgren, anders.forsgren@math.kth.se.