Characterization of Local Configuration Controllability for a Class of Mechanical Systems

J. Cortes; S. Martinez

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Characterization of Local Configuration Controllability for a Class of Mechanical Systems

J. Cortes·S. Martinez

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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.

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J. Cortes, S. Martinez. 2000-09-08. Characterization of Local Configuration Controllability for a Class of Mechanical Systems. https://arxiv.org/abs/math/0009095

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