Title: Configuration controllability of simple mechanical control systems (28 pages)
Author(s): Andrew D. Lewis and Richard M. Murray
Detail: SIAM Journal on Control and Optimization 35(3), pages 766-790, May 1997
Journal version: Download

Original manuscript: 1995/11/21
Manuscript last revised: 2001/12/17

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.

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Last Updated: Fri Oct 27 08:26:19 2017


Andrew D. Lewis (andrew at mast.queensu.ca)