Decompositions for Control Systems on Manifolds with an Affine Connection

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Andrew Lewis and Richard M. Murray
Systems & Control Letters 31:199-205, 1997

In this letter we present a decomposition for control systems whose drift vector field is the geodesic spray associated with an affine connection. With the geometric insight gained with this decomposition, we are able to easily prove some special results for this class of control systems. Examples illustrate the theory.