1996 Control and Decision Conference
نویسندگان
چکیده
Lagrangian control systems that are diierentially at with at outputs that only depend on connguration variables are said to be connguration at. We provide a complete characterisation of connguration atness for systems with n degrees of freedom and n ? 1 controls whose range of control forces only depends on conng-uration and whose Lagrangian has the form of kinetic energy minus potential. The method presented allows us to determine if such a system is connguration at and, if so provides a constructive method for nding all possible connguration at outputs. Our characteri-sation relates connguration atness to Riemannian geometry .
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