DocumentCode
799696
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
Volume
47
Issue
8
fYear
2002
fDate
8/1/2002 12:00:00 AM
Firstpage
1396
Lastpage
1401
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;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.2002.801187
Filename
1024362
Link To Document