Configuration Controllability of Simple Mechanical Control Systems
Abstract
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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SIAM Journal on Control and Optimization
Pages: 766 - 790
ISSN (online): 1095-7138
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Copyright © 1997 Society for Industrial and Applied Mathematics.
History
Published online: 26 July 2006
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