Characterization of Local Configuration Controllability for a Class of Mechanical Systems

MaRDI QIDQ6470610zbMATH OpenFDO

Authors Julien Cortes, S. Martínez

Publication date 8 September 2000

Mathematics Subject Classification ID

Linear and affine connections (53B05) Control of mechanical systems (70Q05) Attainable sets, reachability (93B03) Controllability (93B05)

Abstract: We investigate local configuration controllability for mechanical control systems within the affine connection formalism. Extending the work by Lewis for the single-input case, we are able to characterize local configuration controllability for systems with $n$ degrees of freedom and $n-1$ input forces.

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