DocumentCode
700741
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
fYear
1997
fDate
1-7 July 1997
Firstpage
1836
Lastpage
1841
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 1997 European
Conference_Location
Brussels
Print_ISBN
978-3-9524269-0-6
Type
conf
Filename
7082371
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