Browsing by Author "Bullo, Francesco"
Now showing items 1-8 of 8
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Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups
Bullo, Francesco; Leonard, Naomi E.; Lewis, Andrew D. (IEEE, 2000)In this paper, we provide controllability tests and motion control algorithms for underactuated mechanical control systems on Lie groups with Lagrangian equal to kinetic energy. Examples include satellite and underwater ... -
Controllable kinematic reductions for mechanical systems: concepts, computational tools, and examples
Bullo, Francesco; Lewis, Andrew D.; Lynch, Kevin M. (2001)This paper introduces the novel notion of kinematic reductions for mechanical systems and studies their controllability properties. We focus on the class of simple mechanical control systems with constraints and model ... -
Kinematic controllability and motion planning for the snakeboard
Bullo, Francesco; Lewis, Andrew D. (IEEE, 2003)The snakeboard is shown to be kinematically controllable. Associated with the two decoupling vector fields for the problem, a constrained static nonlinear programming problem is posed whose solutions provide a solution to ... -
The linearisation of a simple mechanical control system
Bullo, Francesco; Lewis, Andrew D. (2002)A geometric interpretation is given for the linearisation of a mechanical control system with a kinetic minus potential energy Lagrangian. -
Low-order controllability and kinematic reductions for affine connection control systems
Bullo, Francesco; Lewis, Andrew D. (2002)Controllability and kinematic modeling notions are investigated for a class of mechanical control systems. First, low-order controllability results are given for a class of mechanical control systems. Second, a ... -
On the homogeneity of the affine connection model for mechanical control systems
Bullo, Francesco; Lewis, Andrew D. (IEEE, 2000)This work presents a review of a number of control results for mechanical systems. The key technical results derive mainly from the homogeneity properties of affine connection models for a large class of mechanical systems. ... -
Reduction, linearization, and stability of relative equilibria for mechanical systems on Riemannian manifolds
Bullo, Francesco; Lewis, Andrew D. (2004)Consider a Riemannian manifold equipped with an infinitesimal isometry. For this setup, a unified treatment is provided, solely in the language of Riemannian geometry, of techniques in reduction, linearization, and stability ... -
Vector-valued quadratic forms in control theory
Bullo, Francesco; Cortes, Jorge; Lewis, Andrew D.; Martinez, Sonia (2002)