Local Equilibrium Controllability of Multibody Systems Controlled via Shape Change

DOI10.1109/TAC.2004.825651MaRDI QIDQ5273721zbMATH OpenFDO

Authors Jinglai Shen, N. Harris Mcclamroch, Anthony M. Bloch

Publication date 12 July 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/TAC.2004.825651

Mathematics Subject Classification ID

Dynamical systems in classical and celestial mechanics (37N05) Dynamics of multibody systems (70E55) Control of mechanical systems (70Q05) Controllability (93B05) Geometric methods (93B27) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(3)

• Symplectic reduction of holonomic open-chain multi-body systems with constant momentum
• Geometric modeling and local controllability of a spherical mobile robot actuated by an internal pendulum
• A unified approach to input-output linearization and concurrent control of underactuated open-chain multi-body systems with holonomic and nonholonomic constraints

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