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Equilibrium Controllability for a Class of Mechanical Systems
Abstract We define a notion of controllability for …
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.
brackets, and their covariant derivatives.  +
Authors A. D. Lewis, R. M. Murray  +
Flags NoRequest  +
ID 1995d  +
Source 1995 Conference on Decision and Control  +
Tag lm95-cdc  +
Title Equilibrium Controllability for a Class of Mechanical Systems +
Type Conferencepaper  +
Categories Papers
Modification date
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15 May 2016 06:20:37  +
URL
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http://www.cds.caltech.edu/~murray/preprints/lm95-cdc.pdf  +
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Equilibrium Controllability for a Class of Mechanical Systems + Title
 

 

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