Configuration Controllability of Simple Mechanical Control Systems

Lewis, Andrew D. and Murray, Richard M. (1995) Configuration Controllability of Simple Mechanical Control Systems. Technical Report. California Institute of Technology. [CaltechCDSTR:1995.CIT-CDS-95-015]

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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 also derived. This condition involves a new object which we call the {\em 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.

EPrint Type:	Monograph (Technical Report)
Subjects:	All Records
ID Code:	17
Deposited By:	Richard M. Murray
Deposited On:	18 October 2002
Unique Identifier:	CaltechCDSTR:1995.CIT-CDS-95-015
Official Persistent URL:	http://resolver.caltech.edu/CaltechCDSTR:1995.CIT-CDS-95-015
Usage Policy:	You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.

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