Configuration controllability of simple mechanical control systems

被引：127

作者：

Lewis, AD

Murray, RM

机构：

[1] Div. of Eng. and Appl. Sci. 104-44, California Institute of Technology, Pasadena

来源：

SIAM JOURNAL ON CONTROL AND OPTIMIZATION | 1997年 / 35卷 / 03期

关键词：

mechanics; Riemannian geometry; controllability; symmetric product;

D O I：

10.1137/S0363012995287155

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 far this new version of controllability is derived, This condition involves an 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.

引用

页码：766 / 790

页数：25

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