DocumentCode
2190856
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
Volume
3
fYear
2001
fDate
2001
Firstpage
2619
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location
Orlando, FL
Print_ISBN
0-7803-7061-9
Type
conf
DOI
10.1109/.2001.980662
Filename
980662
Link To Document