CaltechAUTHORS
  A Caltech Library Service

Configuration Controllability of Simple Mechanical Control Systems

Lewis, Andrew D. and Murray, Richard M. (1995) Configuration Controllability of Simple Mechanical Control Systems. California Institute of Technology . (Unpublished) http://resolver.caltech.edu/CaltechCDSTR:1995.CIT-CDS-95-015

[img]
Preview
Postscript
See Usage Policy.

525Kb
[img]
Preview
PDF
See Usage Policy.

417Kb

Use this Persistent URL to link to this item: http://resolver.caltech.edu/CaltechCDSTR:1995.CIT-CDS-95-015

Abstract

In this paper we present a definition of "configuration controllability" for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential energy. A computable test for this new version of controllability is also derived. This condition involves a new object which we call the {\em symmetric product}. Of particular interest is a definition of "equilibrium controllability" for which we are able to derive computable sufficient conditions. Examples illustrate the theory.


Item Type:Report or Paper (Technical Report)
Group:Control and Dynamical Systems Technical Reports
Record Number:CaltechCDSTR:1995.CIT-CDS-95-015
Persistent URL:http://resolver.caltech.edu/CaltechCDSTR:1995.CIT-CDS-95-015
Usage Policy:You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.
ID Code:28016
Collection:CaltechCDSTR
Deposited By: Imported from CaltechCDSTR
Deposited On:18 Oct 2002
Last Modified:26 Dec 2012 14:28

Repository Staff Only: item control page