Add to ORKGAbstract. In this paper we present a denition of \conguration controllability " for mechanical sys-tems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus po-tential energy. A computable test for this new version of controllability is derived. This condition involves an object that we call the symmetric product. Of particular interest is a denition of \equilibrium controllability " for which we are able to derive computable sucient conditions. Examples illustrate the theory
Abstract. Dissipative and passive mechanical systems are studied from a geometric point of view. Sin...
In recent years there has been growing interest in the descriptive analysis of complex systems, perm...
Abstract. The purpose of this paper is to show that the method of controlled Lagrangians and its Ham...
In this paper we present a definition of "configuration controllability" for mechanical systems whos...
We define a notion of controllability for mechanical systems which determines the configurations whi...
ii iii Many interesting control systems are mechanical control systems. In spite of this, there has ...
This paper considers nonlinear kinematic controllability of a class of systems called stratified. R...
Abstract: A series of studies on controllability of the nonlinear dynamic mechanical systems such as...
The work presented in this talk was initiated by some work which went into my PhD disserta-tion [Lew...
The main objective of this article is to review the major progress that has been made on controllabi...
Lagrangian control systems that are differentially flat with flat outputs that only depend on conf...
In this paper, we provide controllability tests and motion control algorithms for under-actuated mec...
The article is devoted to the actual problem of the mathematical theory of controllability. It inves...
Nonlinear control of mechanical systems is a challenging discipline that lies at the intersection be...
The aim is to investigate the controllability of the mechanical systems described by the non-linear ...
Abstract. Dissipative and passive mechanical systems are studied from a geometric point of view. Sin...
In recent years there has been growing interest in the descriptive analysis of complex systems, perm...
Abstract. The purpose of this paper is to show that the method of controlled Lagrangians and its Ham...
In this paper we present a definition of "configuration controllability" for mechanical systems whos...
We define a notion of controllability for mechanical systems which determines the configurations whi...
ii iii Many interesting control systems are mechanical control systems. In spite of this, there has ...
This paper considers nonlinear kinematic controllability of a class of systems called stratified. R...
Abstract: A series of studies on controllability of the nonlinear dynamic mechanical systems such as...
The work presented in this talk was initiated by some work which went into my PhD disserta-tion [Lew...
The main objective of this article is to review the major progress that has been made on controllabi...
Lagrangian control systems that are differentially flat with flat outputs that only depend on conf...
In this paper, we provide controllability tests and motion control algorithms for under-actuated mec...
The article is devoted to the actual problem of the mathematical theory of controllability. It inves...
Nonlinear control of mechanical systems is a challenging discipline that lies at the intersection be...
The aim is to investigate the controllability of the mechanical systems described by the non-linear ...
Abstract. Dissipative and passive mechanical systems are studied from a geometric point of view. Sin...
In recent years there has been growing interest in the descriptive analysis of complex systems, perm...
Abstract. The purpose of this paper is to show that the method of controlled Lagrangians and its Ham...