Equilibrium Controllability for a Class of Mechanical Systems
A. D. Lewis, R. M. Murray
1995 Conference on Decision and Control
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.
- Conferencepaper: http://www.cds.caltech.edu/~murray/preprints/lm95-cdc.pdf