On the homogeneity of the affine connection model for mechanical control systems

@inproceedings{Bullo2000OnTH,
  title={On the homogeneity of the affine connection model for mechanical control systems},
  author={Francesco Bullo and Andrew D. Lewis},
  year={2000}
}
This work presents a review of a number of control results for mechanical systems. The key technical advances derive from the homogeneity properties of affine connections models for a large class of mechanical systems. Recent results on nonlinear controllability and on series expansions are presented in a unified fashion.