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Andrew D. Lewis >
Please use this identifier to cite or link to this item:
http://hdl.handle.net/1974/55
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| Title: | Low-order controllability and kinematic reductions for affine
connection control systems |
| Authors: | Bullo, Francesco
Lewis, Andrew D. |
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| Issue Date: | 2002 |
| Abstract: | 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 precise
connection is made between those mechanical systems which are dynamic
(i.e., have forces as inputs) and those which are kinematic (i.e., have
velocities as inputs). Interestingly and surprisingly, these two subjects
are characterised and linked by a certain intrinsic vector-valued quadratic
form that can be associated to an affine connection control system. |
| Description: | To appear in SIAM Journal on Control and Optimization |
| URI: | http://hdl.handle.net/1974/55 |
| Appears in Collections: | Andrew D. Lewis
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