On the Hybrid Minimum Principle On Lie Groups and the Exponential Gradient HMP Algorithm

Farzin Taringoo; Peter E. Caines

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arXiv · 1301.1082

On the Hybrid Minimum Principle On Lie Groups and the Exponential Gradient HMP Algorithm

Farzin Taringoo·Peter E. Caines

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Abstract

This paper provides a geometrical derivation of the Hybrid Minimum Principle (HMP) for autonomous hybrid systems whose state manifolds constitute Lie groups $(G,\star)$ which are left invariant under the controlled dynamics of the system, and whose switching manifolds are defined as smooth embedded time invariant submanifolds of $G$. The analysis is expressed in terms of extremal (i.e. optimal) trajectories on the cotangent bundle of the state manifold $G$. The Hybrid Maximum Principle (HMP) algorithm introduced in \cite{Shaikh} is extended to the so-called Exponential Gradient algorithm. The convergence analysis for the algorithm is based upon the LaSalle Invariance Principle and simulation results illustrate their efficacy.

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Farzin Taringoo, Peter E. Caines. 2014-02-03. On the Hybrid Minimum Principle On Lie Groups and the Exponential Gradient HMP Algorithm. https://arxiv.org/abs/1301.1082

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