Configuration Controllability of Simple Mechanical Control Systems
نویسندگان
چکیده
In this paper we present a definition of “configuration controllability” for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential energy. A computable test for this new version of controllability is derived. This condition involves an object which we call the symmetric product . Of particular interest is a definition of “equilibrium controllability” for which we are able to derive computable sufficient conditions. Examples illustrate the theory.
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ورودعنوان ژورنال:
- SIAM Review
دوره 41 شماره
صفحات -
تاریخ انتشار 1999