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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.  +
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
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15 May 2016 06:20:30  +
URL
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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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