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This toolbox is capable of simulating controlled hybrid systems. Examples include systems undergoing contact (e.g. robotic systems or humans interacting with the world), digital control systems, and more. If you use the toolbox in research that will be published, please choose a citation appropriate to the field of publication from the following list:

S. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy and S. S. Sastry, “Metrization and Simulation of Controlled Hybrid Systems,” IEEE Transactions on Automatic Control, vol. 60, no. 9, September 2015. [preprint]

S. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy and S. S. Sastry, “Numerical integration of hybrid dynamical systems via domain relaxation,” in IEEE Conference on Decision and Control and European Control Conference, pp. 3958-3965, 2011. [pdf]

 

This toolbox contains a numerical optimal control method for constrained nonlinear switched dynamical systems with input. If you use the toolbox in research that will be published, please choose a citation appropriate to the field of publication from the following list:

R. Vasudevan, H. Gonzalez, R. Bajcsy and S. S. Sastry, “Consistent Approximations for the Optimal Control of Constrained Switched Systems -- Part 1: A Conceptual Algorithm,” SIAM Journal on Control and Optimization, vol. 51, no. 6, pp. 4463-4483, 2013. [url]

R. Vasudevan, H. Gonzalez, R. Bajcsy and S. S. Sastry, “Consistent Approximations for the Optimal Control of Constrained Switched Systems -- Part 2: An Implementable Algorithm,” SIAM Journal on Control and Optimization, vol. 51, no. 6, pp. 4484-4503, 2013. [url]

 

This toolbox contains a numerical optimal control method for constrained nonlinear switched dynamical systems with input. If you use the toolbox in research that will be published, please cite the following paper:

E. Lobaton, R. Vasudevan, R. Alterovitz and R. Bajcsy, “Robust topological features for deformation invariant image matching,” in International Conference on Computer Vision, pp. 2516-2523, 2011. [pdf]