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The Geometry and Control of Dissipative Systems 
Abstract 
We regard the internal configuration of a … We regard the internal configuration of a deformable body, together with
its position and orientation in ambient space, as a point in a trivial
principal fiber bundle over the manifold of body deformations.
In the presence of a symmetry which leads to a conservation law, the
selfpropulsion of such a body due to cyclic changes in shape is
described by the corresponding mechanical connection on the configuration
bundle. In the presence of viscous drag sufficient to negate inertial
effects, the viscous connection takes the place of the mechanical connection.
Both connections may be represented locally in terms of the variables
describing the body's shape. In the presence of both inertial and
viscous effects, the equations of motion may be written in terms of the
two local connection forms as an affine control system with drift on
the manifold of configurations and body momenta. We apply techniques
from nonlinear control theory to the equations in this form to obtain
criteria for a particular form of accessibility. ia for a particular form of accessibility. +


Authors  Scott D. Kelly and Richard M. Murray + 
Flags  NoRequest + 
ID  1996f + 
Source  1996 IEEE Control and Decision Conference + 
Tag  km96cdc + 
Title  The Geometry and Control of Dissipative Systems + 
Type  Conference paper + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:20:18 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/km96cdc.pdf + 
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