Motion control algorithms for simple mechanical systems with symmetry

@inproceedings{Martnez2002MotionCA,
  title={Motion control algorithms for simple mechanical systems with symmetry},
  author={Sonia Mart́ınez},
  year={2002}
}
  • Sonia Mart́ınez
  • Published 2002
Abstract. We treat underactuated mechanical control systems with symmetry taking the viewpoint of the affine connection formalism. We first review the appropriate notions and tests of controllability associated with these systems, including that of fiber controllability. Secondly, we present a series expansion describing the evolution of the trajectories of general mechanical control systems starting from non-zero velocity. This series is then used to investigate the behavior of the system… CONTINUE READING
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Foundations of Mechanics

  • R. Abraham, J. E. Marsden
  • 1978
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