Configuration Controllability of Simple Mechanical Control Systems: Difference between revisions
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{{HTDB paper | {{HTDB paper | ||
| authors = Andrew D. Lewis and Richard M. Murray | | authors = Andrew D. Lewis and Richard M. Murray | ||
| title = Configuration Controllability of Simple Mechanical Control Systems | | title = Configuration Controllability of Simple Mechanical Control Systems | ||
| source = <i>SIAM | | source = <i>SIAM J. Control and Optimization</i>, 35(3):766-790 | ||
| year = | | year = 1997 | ||
| type = | | type = CDS | ||
| funding = | Technical Report | ||
| url = | | funding = Powell | ||
| abstract = In this paper we present a definition of "configuration controllability" for | | url = ftp://ftp.cds.caltech.edu/pub/cds/techreports/postscript/cds95-015.pdf | ||
| 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 | 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 also | minus potential energy. A computable test for this new version of controllability is also | ||
| Line 14: | Line 15: | ||
we are able to derive computable sufficient conditions. Examples illustrate the theory. | we are able to derive computable sufficient conditions. Examples illustrate the theory. | ||
| flags = | | flags = | ||
| tag = lm95-cds | |||
| id = 1995l | |||
| tag = | |||
| id = | |||
}} | }} | ||
Latest revision as of 06:20, 15 May 2016
Andrew D. Lewis and Richard M. Murray
SIAM J. Control and Optimization, 35(3):766-790
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 also derived. This condition involves a new 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.
- CDS
Technical Report: ftp://ftp.cds.caltech.edu/pub/cds/techreports/postscript/cds95-015.pdf
- Project(s): Template:HTDB funding::Powell
