• DocumentCode
    2803639
  • Title

    Configuration controllability for a class of mechanical systems

  • Author

    Lewis, Andrew D. ; Murray, Richard M.

  • Author_Institution
    Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
  • Volume
    4
  • fYear
    1995
  • fDate
    13-15 Dec 1995
  • Firstpage
    4288
  • Abstract
    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
  • Keywords
    Lie algebras; controllability; Lie brackets; configuration controllability; covariant derivatives; mechanical systems; Control systems; Control theory; Controllability; Kinetic theory; Lagrangian functions; Mechanical factors; Mechanical systems; Nonlinear control systems; Sufficient conditions; Tin;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
  • Conference_Location
    New Orleans, LA
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-2685-7
  • Type

    conf

  • DOI
    10.1109/CDC.1995.478914
  • Filename
    478914
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2803639