Configuration Controllability of Simple Mechanical Control Systems ∗ Andrew
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 that 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.
منابع مشابه
Configuration Controllability of Simple Mechanical Control Systems
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 controlla...
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