Title :
Local configuration controllability for a class of mechanical systems with a single input
Author :
Lewis, Andrew D.
Author_Institution :
Dept. of Math., Univ. of Warwick, Coventry, UK
Abstract :
We investigate single-input mechanical control systems where the Lagrangian is the kinetic energy associated with a Riemannian metric. It is demonstrated that such a system is locally configuration controllable only if the dimension of the configuration manifold is one.
Keywords :
control systems; controllability; tensors; Lagrangian kinetic energy; Riemannian metric; configuration manifold; local configuration controllability; single-input mechanical control system; Controllability; Force; Legged locomotion; Manifolds; Mechanical systems; controllability; mechanics; single-input;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
