View source for Configuration Controllability of Simple Mechanical Control Systems

{{HTDB paper
| authors = Andrew D. Lewis and Richard M. Murray 
| title = Configuration Controllability of Simple Mechanical Control Systems 
| source = <i>SIAM J. Control and Optimization</i>, 35(3):766-790
| year = 1997
| type = CDS
Technical Report
| funding = Powell
| url = ftp://ftp.cds.caltech.edu/pub/cds/techreports/postscript/cds95-015.pdf
| abstract =  In this paper we present a definition of &quot;configuration controllability&quot; 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 &quot;equilibrium controllability&quot; for which
we are able to derive computable sufficient conditions. Examples illustrate the theory. 
| flags = 
| tag = lm95-cds
| id = 1995l
}}