DocumentCode
2619530
Title
Geometric homogeneity and controllability of nonlinear systems
Author
Vela, Patricio A. ; Burdick, Joel W.
Author_Institution
Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
Volume
6
fYear
2003
fDate
9-12 Dec. 2003
Firstpage
6096
Abstract
We followed-up a suggestion from Bullo and Lewis concerning the importance of geometric homogeneity for mechanical systems, that shows the controllability results for a large class of mechanical systems with drift can be recovered by considering a class of nonlinear dynamical systems satisfying certain homogeneity conditions.
Keywords
motion control; nonlinear control systems; nonlinear dynamical systems; geometric homogeneity; mechanical control systems; motion control; nonlinear control systems; nonlinear dynamical systems; Control systems; Controllability; Geometry; Lagrangian functions; Mechanical systems; Nonlinear control systems; Nonlinear systems; Postal services; Sufficient conditions; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7924-1
Type
conf
DOI
10.1109/CDC.2003.1272239
Filename
1272239
Link To Document