Geometric analysis of a class of constrained mechanical control systems in the nonzero velocity setting ⋆
نویسندگان
چکیده
We obtain an intrinsic vector-valued symmetric bilinear form that can be associated with an underactuated constrained mechanical control system. We determine properties of the form that serve as sufficient conditions for driving a constrained mechanical system underactuated by one control to an ǫ-neighborhood of rest from an arbitrary initial configuration and velocity. We also determine properties of the form which serve as necessary conditions. These conditions are computable and coordinate invariant.
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