2011/09/21 by María Barbero-Liñán, Barbero-Liñán, María
Computer Science · Engineering · Mathematics · #Advanced Differential Equations and Dynamical Systems #Control and Dynamics of Mobile Robots #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Polynomial and algebraic computation #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1109.4544
openalex publication_date 2011/09/21 · openalex created_date 2022/10/02 · openalex updated_date 2026/07/28
Affine connection control systems are mechanical control systems that model a\nwide range of real systems such as robotic legs, hovercrafts, planar rigid\nbodies, rolling pennies, snakeboards and so on. In 1997 the accessibility and a\nparticular notion of controllability was intrinsically described by A. D. Lewis\nand R. Murray at points of zero velocity. Here, we present a novel\ngeneralization of the description of accessibility algebra for those systems at\nsome points with nonzero velocity as long as the affine connection restricts to\nthe distribution given by the symmetric closure. The results are used to\ndescribe the accessibility algebra of different mechanical control systems.\n