Abstract
Within the affine connection framework of Lagrangian control systems, based on the results of Sussmann on small-time locally controllability of single-input affine nonlinear control systems, the controllability results for mechanical control systems with single-input are extended to the case of the systems with isotropic damping, where the Lagrangian is the kinetic energy associated with a Riemannian metric. A sufficient condition of negative small-time locally controllability for the system is obtained. Then,it is demonstrated that such systems are smalt-time locally configuration controllable if and only if the dimension of the configuration manifold is one. Finally, two examples are given to illustrate the results. Lie bracketting of vector fields and the symmetric product show the advantages in the discussion.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
