CaltechAUTHORS
  A Caltech Library Service

Configuration controllability for a class of mechanical systems

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

[img] PDF - Published Version
See Usage Policy.

663kB

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20190315-142358906

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
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/cdc.1995.478914DOIArticle
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 1995 IEEE. Research supported by NSF Grant CMS-9502224.
Funders:
Funding AgencyGrant Number
NSFCMS-9502224
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

Repository Staff Only: item control page