Lewis, Andrew D. and Murray, Richard M. (1995) Configuration controllability for a class of mechanical systems. In: Proceedings of 1995 34th IEEE Conference on Decision and Control. Vol.4. IEEE , Piscataway, NJ, pp. 4288-4293. ISBN 0780326857. https://resolver.caltech.edu/CaltechAUTHORS:20190315-142358906
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Abstract
We define a notion of controllability for mechanical systems which determines the configurations which are accessible from a given configuration. We derive sufficient conditions for this notion of controllability in terms of the given inputs, their Lie brackets, and their covariant derivatives.
| Item Type: | Book Section | ||||||
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| Additional Information: | © 1995 IEEE. Research supported by NSF Grant CMS-9502224. | ||||||
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| DOI: | 10.1109/cdc.1995.478914 | ||||||
| Record Number: | CaltechAUTHORS:20190315-142358906 | ||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20190315-142358906 | ||||||
| Official Citation: | A. D. Lewis and R. M. Murray, "Configuration controllability for a class of mechanical systems," Proceedings of 1995 34th IEEE Conference on Decision and Control, New Orleans, LA, USA, 1995, pp. 4288-4293 vol.4. doi: 10.1109/CDC.1995.478914 | ||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
| ID Code: | 93879 | ||||||
| Collection: | CaltechAUTHORS | ||||||
| Deposited By: | George Porter | ||||||
| Deposited On: | 15 Mar 2019 22:55 | ||||||
| Last Modified: | 16 Nov 2021 17:01 |
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