Characterization of Local Configuration Controllability for a Class of Mechanical Systems
classification
🧮 math.OC
math.DGmath.DS
keywords
configurationcontrollabilitylocalsystemsmechanicalableaffinecase
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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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