On nonlinear controllability and series expansions for Lagrangian systems with dissipative forces

被引：9

作者：

Cortés, J

Martínez, S

Bullo, F

机构：

[1] Univ Twente, Fac Math Sci, NL-7500 AE Enschede, Netherlands

[2] CSIC, Inst Matemat & Fis Fundamental, E-28006 Madrid, Spain

[3] Univ Illinois, Coordinated Sci Lab, Urbana, IL 61801 USA

[4] Univ Illinois, Dept Gen Engn, Urbana, IL 61801 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2002年 / 47卷 / 08期

关键词：

mechanical control systems; nonlinear controllability; series expansions;

D O I：

10.1109/TAC.2002.801187

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This note presents series expansions and nonlinear controllability results for Lagrangian systems subject to dissipative forces. The treatment relies on the assumption of dissipative forces of linear isotropic nature. The approach is based on the affine connection formalism for Lagrangian control systems, and on the homogeneity property of all relevant vector fields.

引用

页码：1396 / 1401

页数：6

共 21 条

[1] THE EXPONENTIAL REPRESENTATION OF FLOWS AND THE CHRONOLOGICAL-CALCULUS [J].