Configuration Controllability of Mechanical Systems Underactuated by One Control

DOI10.1137/S0363012900374099MaRDI QIDQ4442968zbMATH OpenOpenAlexFDO

Authors J. Cortés, Sonia Martínez

Publication date 8 January 2004

Published in SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1137/s0363012900374099

zbMATH Keywords

configuration controllabilitynonlinear controlsymmetric product

Mathematics Subject Classification ID

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

Recommendations

• Configuration Controllability of Simple Mechanical Control Systems
• Configuration Controllability of Simple Mechanical Control Systems
• Controllability of a class of underactuated mechanical systems with symmetry
• Homogeneous structure and local controllability for a class of mechanical control systems
• Configuration controllability for non-zero potential mechanical control systems with dissipation

Cited in

(11)

• Analysis of exclusively kinetic two-link underactuated mechanical systems
• An XY mechanism actuated by one actuator
• Optimal control, contact dynamics and Herglotz variational problem
• On the controllability properties of hinged closed mechanisms
• Configuration Controllability of Simple Mechanical Control Systems
• Dynamics and control of a class of underactuated mechanical systems
• Controllability of kinematic control systems on stratified configuration spaces
• Configuration Controllability of Simple Mechanical Control Systems
• Homogeneous structure and local controllability for a class of mechanical control systems
• Low-Order Controllability and Kinematic Reductions for Affine Connection Control Systems
• Configuration controllability for non-zero potential mechanical control systems with dissipation

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