Title: Configuration controllability for a class of mechanical systems
Author(s): Andrew D. Lewis and Richard M. Murray
Detail: Proceedings of the 34th IEEE Conference on Decision and Control, December 1995, pages 1-5
Conference proceedings version: Download

Original manuscript: 1995/08/17

We define a notion of controllability for mechanical systems which determines the configurations which are accessible from a given configuration. We derive sufficient conditions for this notion of controllability in terms of the given inputs, their Lie brackets, and their covariant derivatives.

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Andrew D. Lewis (andrew at mast.queensu.ca)