Configuration controllability for mechanical systems
underactuated by one control

Jorge Cortés and Sonia Martínez
SIAM Journal on Control and Optimization, 41 (6) (2003), 1901-1921

Abstract:

We investigate local configuration controllability for mechanical control systems within the affine connection formalism. Extending the work by Lewis for the single-input case, we are able to characterize local configuration controllability for systems with n degrees of freedom and n-1 input forces.

File: main.pdf

Bib-tex entry:

@article{JC-MdL-DMD-SM:03,
author = {J. Cort\'es and S. Mart{\'\i}nez},
title = {Configuration controllability for mechanical systems underactuated by one control},
journal= {SIAM Journal on Control and Optimization},
volume = 41,
number = 6,
year = 2003,
pages = {1901-1921}
}