Configuration controllability of simple mechanical control systems

被引：12

作者：

Lewis, AD ^{[1
]}

Murray, RM

机构：

[1] Queens Univ, Dept Math & Stat, Kingston, ON K7L 3N6, Canada

[2] CALTECH, Pasadena, CA 91125 USA

来源：

SIAM REVIEW | 1999年 / 41卷 / 03期

关键词：

mechanics; Riemannian geometry; controllability; symmetric product;

D O I：

10.1137/S0036144599351065

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

In this paper we present a definition of "configuration controllability" for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential 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 definition of "equilibrium controllability" for which we are able to derive computable sufficient conditions. Examples illustrate the theory.

引用

页码：555 / 574

页数：20

共 30 条

[1]

Abraham R., 1978, Foundations of mechanics

[2]

Bloch A.M., 1992, P 32 IEEE C DEC CONT, P1

[3]

Bloch AM, 1995, PROCEEDINGS OF THE 34TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, P1066, DOI 10.1109/CDC.1995.480232

[4] CONTROL AND STABILIZATION OF NONHOLONOMIC DYNAMIC-SYSTEMS [J].

BLOCH, AM ;

REYHANOGLU, M ;

MCCLAMROCH, NH .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1992, 37 (11) :1746-1757

[5]

Brockett R. W., 1983, DIFFERENTIAL GEOMETR, P181

[6]

BROCKETT RW, 1977, GEOMETRIC CONTROL TH, P1

[7] Tracking for fully actuated mechanical systems: a geometric framework [J].

Bullo, F ;

Murray, RM .

AUTOMATICA, 1999, 35 (01) :17-34

[8]

BULLO F, IN PRESS IEEE T AUTO

[9]

BULLO F, UNPUB P IFAC 99 INT

[10]

FLIESS M, 1992, CR ACAD SCI I-MATH, V315, P619

← 1 2 3 →