Title: Configuration controllability of mechanical systems on Lie groups (12 pages)
Author(s): Francesco Bullo and Andrew D. Lewis
Detail: Proceedings of MTNS '96

Original manuscript: 1996/01/15

The recent introduction of a new notion of controllability and a corresponding computable test has provided a deeper insight into mechanical control systems. This paper focuses on systems whose Lagrangian is the kinetic energy and whose configuration manifold is a Lie group. The theory developed by the Lewis and Murray, coupled with the notion of invariant affine connection, leads naturally to a simple algebraic test. Relevant examples illustrate the theory.

No online version avaliable (but check this out).

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