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dc.contributor.authorBullo, Francescoen
dc.contributor.authorLewis, Andrew D.en
dc.contributor.authorLynch, Kevin M.en
dc.date10/05/2002
dc.date.accessioned2004-11-01T21:07:34Z
dc.date.available2004-11-01T21:07:34Z
dc.date.issued2001
dc.identifier.citationProceedings of MTNS02, University of Notre Dame, August 2002
dc.identifier.urihttp://hdl.handle.net/1974/49
dc.descriptionen
dc.description.abstractThis 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 them as affine connection control systems. For these systems, a kinematic reduction is a driftless control system whose controlled trajectories are also solutions to the full dynamic model under appropriate controls. We present a comprehensive treatment of local controllability properties of mechanical systems and their kinematic reductions. Remarkably, a number of interesting reduction and controllability conditions can be characterized in terms of a certain vector-valued quadratic form. We conclude with a catalog of example systems and their kinematic reductions.en
dc.format.extent411938 bytes
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.titleControllable kinematic reductions for mechanical systems: concepts, computational tools, and examplesen


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