Title: Affine connection control systems (11 pages)
Detail: Invited talk for the IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Princeton, NJ, 2000/03/18

The affine connection formalism provides a useful framework for the investigation of a large class of mechanical systems. Mechanical systems with kinetic energy Lagrangians and possibly with nonholonomic constraints are fit naturally into the formalism, and some results are stated in the areas of controllability and optimal control for affine connection control systems.

109K pdf
Last Updated: Wed Jun 7 20:25:01 2017

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