Low-Order Controllability and Kinematic Reductions for Affine Connection Control Systems

DOI10.1137/S0363012903421182zbMath1088.70016OpenAlexW2021448098MaRDI QIDQ5700556

Andrew D. Lewis, Bullo, Francesco

Publication date: 28 October 2005

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

Full work available at URL: https://doi.org/10.1137/s0363012903421182

zbMATH Keywords

driftless systemsvector-valued quadratic form

Mathematics Subject Classification ID

Controllability (93B05) Control of mechanical systems (70Q05)

Related Items

Embedded optimal control of robot manipulators with passive joints, Energy-optimal trajectory planning for planar underactuated \(RR\) robot manipulators in the absence of gravity, Local factorization of trajectory lifting morphisms for single-input affine control systems, Reduction, linearization, and stability of relative equilibria for mechanical systems on Riemannian manifolds, A geometrical approach to the motion planning problem for a submerged rigid body, Hierarchical trajectory refinement for a class of nonlinear systems, An Elementary Result On The Uniform Stability Of A Class Of Continuous Autonomous Systems, Trajectory design for mechanical control systems: from geometry to algorithms, Energy-optimal trajectory planning for the Pendubot and the Acrobot