Title :
On nonlinear controllability and series expansions for Lagrangian systems with dissipative forces
Author :
Cortés, Jorge ; Martínez, Sonia ; Bullo, Francesco
Author_Institution :
Instituto de Matematicas y Fisica Fundamental, CSIC, Madrid, Spain
Abstract :
Presents series expansions and nonlinear controllability results for Lagrangian systems subject to dissipative forces. The treatment relies on the assumption of dissipative forces of linear isotropic nature. The approach is based on the affine connection formalism for Lagrangian control systems, and on the homogeneity property of all relevant vector fields
Keywords :
Lie algebras; controllability; kinematics; nonlinear control systems; series (mathematics); vectors; Lagrangian systems; affine connection formalism; homogeneity property; linear isotropic forces; nonlinear controllability; series expansions; vector fields; Control system analysis; Control systems; Controllability; Damping; Equations; Lagrangian functions; Manipulators; Mechanical systems; Robot kinematics; Vectors;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980662
