Configuration controllability of simple mechanical control systems
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Date
1995
Authors
Lewis, Andrew D.
Murray, Richard M.
Keyword
Abstract
In this paper we present a definition of "configuration controllability" for
mechanical systems whose Lagrangian is kinetic energy with respect to a
Riemannian metric minus potential energy. A computable test for this new
version of controllability is also derived. This condition involves a new
object which we call the symmetric product. Of particular interest
is a definition of "equilibrium controllability" for which we are able
to derive computable sufficient conditions. Examples illustrate the
theory.