Published December 1995
| Published
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Configuration controllability for a class of mechanical systems
- Creators
- Lewis, Andrew D.
-
Murray, Richard M.
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.
Additional Information
© 1995 IEEE. Research supported by NSF Grant CMS-9502224.Attached Files
Published - 00478914.pdf
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Additional details
- Eprint ID
- 93879
- Resolver ID
- CaltechAUTHORS:20190315-142358906
- CMS-9502224
- NSF
- Created
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2019-03-15Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field