Characterization of Local Configuration Controllability for a Class of Mechanical Systems

Details Characterization of Local Configuration Controllability for a Class of Mechanical Systems Characterization of Local Configuration Controllability for a Class of Mechanical Systems

2000-09-08

arxiv.org/abs/math/0009095v1

SIAM J Control Optim 41 (6) (2003), 1901-1921

Mathematics

Optimization and Control

20 pages, no figures

Scientific paper

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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