Title :
On nonlinear controllability and series expansions for Lagrangian systems with dissipative forces
Author :
Cortes, Jorge ; Martinez, Sonia ; Bullo, Francesco
Author_Institution :
Fac. of Math. Sci., Twente Univ., Enschede, Netherlands
fDate :
8/1/2002 12:00:00 AM
Abstract :
This paper 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 :
controllability; nonlinear systems; series (mathematics); Lagrangian systems; dissipative forces; homogeneity property; isotropic dissipation; mechanical control systems; nonlinear controllability; series expansions; Charge coupled devices; Charge-coupled image sensors; Controllability; Geometry; Lagrangian functions; Motion estimation; Robot sensing systems; Robot vision systems; Robotics and automation; Shape;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2002.801187
