Title: Affine connection control systems (12 pages)
Author(s): Andrew D. Lewis
Detail: IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control

Original manuscript: 2000/01/03

The affine connection formalism provides a useful framework for the investigation of a large class of mechanical systems. Mechanical systems with kinetic energy Lagrangians and possibly with nonholonomic constraints are fit naturally into the formalism, and some results are stated in the areas of controllability and optimal control for affine connection control systems.

361K pdf
Last Updated: Thu Oct 11 08:29:59 2018

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