Published May 1997
| public
Journal Article
Open
Configuration Controllability of Simple Mechanical Control Systems
- Creators
- Lewis, Andrew D.
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Murray, Richard M.
Chicago
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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 derived. This condition involves an object which we call the 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.
Additional Information
©1997 Society for Industrial and Applied Mathematics. Eeceived by the editors June 5, 1995; accepted for publication (in revised form) March 13, 1996. This research was supported in part by the Powell Foundation. We would like to thank Jerry Marsden and Jim Ostrowski for helpful conversations. The anonymous reviewers were also very helpful in improving the presentation of the paper during the review process.Files
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Additional details
- Eprint ID
- 10766
- Resolver ID
- CaltechAUTHORS:LEWsiamjco97
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2008-06-07Created from EPrint's datestamp field
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