Characterization of Local Configuration Controllability for a Class of Mechanical Systems

2000/09/08 by J. Cortes, S. Martinez
Mathematics · #math.OC #math.DG #math.DS #msc:53B05 #msc:70Q05 #msc:93B03 #msc:93B05 #msc:93B29

paper · pdf

published as SIAM J Control Optim 41 (6) (2003), 1901-1921 · 20 pages, no figures

arxiv created 2000/09/08 · arxiv updated 2009/11/30

Abstract

We investigate local configuration controllability for mechanical control systems within the affine connection formalism. Extending the work by Lewis for the single-input case, we are able to characterize local configuration controllability for systems with n degrees of freedom and n-1 input forces.

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