# Equilibrium Controllability for a Class of Mechanical Systems

From MurrayWiki

### A. D. Lewis, R. M. Murray

1995 Conference on Decision and Control

We define a notion of controllability for mechanical systems which determines the configurations which are accessible from a given configuration. We derive sufficient conditions for this notion of controllability in terms of the given inputs, their Lie brackets, and their covariant derivatives.

- Conferencepaper: http://www.cds.caltech.edu/~murray/preprints/lm95-cdc.pdf
- Project(s):