Title: On the homogeneity of the affine connection model for mechanical control systems (13 pages)
Author(s): Francesco Bullo and Andrew D. Lewis
Detail: Proceedings of the 39th IEEE Conference on Decision and Control, December 2000, pages 1260-1265 (IEEE copyright)
Journal version: Download

Original manuscript: 2000/02/29

This work presents a review of a number of control results for mechanical systems. The key technical results derive mainly from the homogeneity properties of affine connection models for a large class of mechanical systems. Recent results on nonlinear controllability and on series expansions are presented in a unified fashion.

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