Configuration Controllability of Simple Mechanical Control Systems
Andrew D. Lewis and Richard M. Murray
SIAM Review, 41(3):555-574, 1999
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.
- Review Paper: http://www.cds.caltech.edu/~murray/preprints/lm99-siamrev.pdf
- Project(s): Template:HTDB funding::NSF