https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=The_Geometry_and_Control_of_Dissipative_Systems 2026-06-28T18:53:27Z Revision history for this page on the wiki MediaWiki 1.44.2 https://murray.cds.caltech.edu/index.php?title=The_Geometry_and_Control_of_Dissipative_Systems&diff=20026&oldid=prev 2016-05-15T06:20:18Z

<p>htdb2wiki: creating page for 1996f_km96-cdc.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Scott D. Kelly and Richard M. Murray<br /> | title = The Geometry and Control of Dissipative Systems<br /> | source = 1996 IEEE Control and Decision Conference<br /> | year = 1996<br /> | type = Conference paper<br /> | funding = <br /> | url = http://www.cds.caltech.edu/~murray/preprints/km96-cdc.pdf<br /> | abstract = <br /> We regard the internal configuration of a deformable body, together with<br /> its position and orientation in ambient space, as a point in a trivial<br /> principal fiber bundle over the manifold of body deformations.<br /> In the presence of a symmetry which leads to a conservation law, the <br /> self-propulsion of such a body due to cyclic changes in shape is <br /> described by the corresponding mechanical connection on the configuration <br /> bundle. In the presence of viscous drag sufficient to negate inertial<br /> effects, the viscous connection takes the place of the mechanical connection. <br /> Both connections may be represented locally in terms of the variables<br /> describing the body&#039;s shape. In the presence of both inertial and<br /> viscous effects, the equations of motion may be written in terms of the<br /> two local connection forms as an affine control system with drift on<br /> the manifold of configurations and body momenta. We apply techniques<br /> from nonlinear control theory to the equations in this form to obtain<br /> criteria for a particular form of accessibility.<br /> <br /> | flags = NoRequest<br /> | tag = km96-cdc<br /> | id = 1996f<br /> }}</div>

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