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
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;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.478914
