Add to ORKGWe define a notion of controllability for mechanical systems which determines the configurations which are accessible from a given configuration. We derive sufficient conditions for this notion of controllability in terms of the given inputs, their Lie brackets, and their covariant derivatives
This paper studies controllability and stabilizability of continuous piecewise affine dynamical syst...
Nonlinear control of mechanical systems is a challenging discipline that lies at the intersection be...
Extends results in local controllability analysis for multiple model driftless affine (MMDA) control...
We define a notion of controllability for mechanical systems which determines the configurations whi...
In this paper we present a definition of "configuration controllability" for mechanical systems whos...
This paper considers nonlinear kinematic controllability of a class of systems called stratified. R...
Many interesting control systems are mechanical control systems. In spite of this, there has not bee...
Abstract: A series of studies on controllability of the nonlinear dynamic mechanical systems such as...
We followed-up a suggestion from Bullo and Lewis concerning the importance of geometric homogeneity ...
The main objective of this article is to review the major progress that has been made on controllabi...
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. Ro...
International audienceWe present some basic facts about the controllability of nonlinear finite dime...
This paper studies controllability and stabilizability of continuous piecewise affine dynamical syst...
Nonlinear control of mechanical systems is a challenging discipline that lies at the intersection be...
Extends results in local controllability analysis for multiple model driftless affine (MMDA) control...
We define a notion of controllability for mechanical systems which determines the configurations whi...
In this paper we present a definition of "configuration controllability" for mechanical systems whos...
This paper considers nonlinear kinematic controllability of a class of systems called stratified. R...
Many interesting control systems are mechanical control systems. In spite of this, there has not bee...
Abstract: A series of studies on controllability of the nonlinear dynamic mechanical systems such as...
We followed-up a suggestion from Bullo and Lewis concerning the importance of geometric homogeneity ...
The main objective of this article is to review the major progress that has been made on controllabi...
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. Ro...
International audienceWe present some basic facts about the controllability of nonlinear finite dime...
This paper studies controllability and stabilizability of continuous piecewise affine dynamical syst...
Nonlinear control of mechanical systems is a challenging discipline that lies at the intersection be...
Extends results in local controllability analysis for multiple model driftless affine (MMDA) control...