Title: Local configuration controllability for a class of mechanical systems with a single input
Author(s): Andrew D. Lewis
Detail: Proceedings of the 1997 European Control Conference

Original manuscript: 1997/02/27
Manuscript last revised: 1997/11/11

We investigate single-input mechanical control systems where the Lagrangian is the kinetic energy associated with a Riemannian metric. It is demonstrated that such a system is locally configuration controllable only if the dimension of the configuration manifold is one.

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