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Now showing items 1-10 of 59

#### Configuration controllability of simple mechanical control systems

(Society for Industrial and Applied Mathematics, 1995)

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 ...

#### Aspects of Geometric Mechanics and Control of Mechanical Systems

(1995)

Many interesting control systems are mechanical control systems. In spite of
this, there has not been much effort to develop methods which use the special
structure of mechanical systems to obtain analysis tools which ...

#### Affine connections and distributions

(1996)

We investigate various aspects of the interplay of an affine connection with
a distribution. When the affine connection restricts to the distribution, we
discuss torsion, curvature, and holonomy of the affine connection. ...

#### Controllability of a hovercraft model (and two general results)

(2003)

Modelling and controllability studies of a hovercraft system are undertaken.
The system studied is a little more complicated than some in the literature
in that the inertial dynamics of the thrust fan are taken into ...

#### Low-order controllability and kinematic reductions for affine connection control systems

(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 ...

#### High-order variations for families of vector fields

(2002)

Sufficient conditions involving Lie brackets of arbitrarily high-order are
obtained for local controllability of families of vector fields. After
providing a general framework for the generation of high-order ...

#### Jacobian linearisation in a geometric setting

(IEEE, 2003)

Linearisation is a common technique in control applications, putting useful
analysis and design methodologies at the disposal of the control engineer.
In this paper, linearisation is studied from a differential ...

#### Geometric local controllability: second-order conditions

(2002)

In a geometric point of view, a nonlinear control system, affine in the
controls, is thought of as an affine subbundle of the tangent bundle of the
state space. In deriving conditions for local controllability from ...

#### The geometry of the maximum principle for affine connection control systems

(2000)

The maximum principle of Pontryagin is applied to systems where the drift
vector field is the geodesic spray corresponding to an affine connection.
The result is a second-order differential equation whose right-hand side ...

#### Geometric sliding mode control: The linear and linearised theory

(2002)

The idea of sliding mode control for stabilisation is investigated to
determine its geometric features. A geometric definition is provided for a
sliding submanifold, and for various properties of a sliding submanifold.
Sliding ...