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| Configuration Controllability of Simple Mechanical Control Systems |
| Abstract |
In this paper we present a definition of " … In this paper we present a definition of "configuration controllability" for
mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric
minus potential energy. A computable test for this new version of controllability is also
derived. This condition involves a new object which we call the symmetric product. Of
particular interest is a definition of "equilibrium controllability" for which
we are able to derive computable sufficient conditions. Examples illustrate the theory. onditions. Examples illustrate the theory. +
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| Authors | Andrew D. Lewis and Richard M. Murray + |
| ID | 1995l + |
| Source | <i>SIAM J. Control and Optimization</i>, 35(3):766-790 + |
| Tag | lm95-cds + |
| Title | Configuration Controllability of Simple Mechanical Control Systems + |
| Type | CDS Technical Report + |
| Categories | Papers |
| Modification date This property is a special property in this wiki.
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15 May 2016 06:20:30 + |
| URL This property is a special property in this wiki.
|
ftp://ftp.cds.caltech.edu/pub/cds/techreports/postscript/cds95-015.pdf + |
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| Configuration Controllability of Simple Mechanical Control Systems + | Title |
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