Now showing items 1-8 of 8
Controllable kinematic reductions for mechanical systems: concepts, computational tools, and examples
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 ...
Low-order controllability and kinematic reductions for affine connection control systems
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 ...
The linearisation of a simple mechanical control system
A geometric interpretation is given for the linearisation of a mechanical control system with a kinetic minus potential energy Lagrangian.
Reduction, linearization, and stability of relative equilibria for mechanical systems on Riemannian manifolds
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 ...
Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups
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 ...
Kinematic controllability and motion planning for the snakeboard
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 ...
On the homogeneity of the affine connection model for mechanical control systems
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. ...