Controllability for single-input mechanical control systems with dissipation
Jianling KANG
Hong WANG
Huawen YE
摘要：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 small-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.
机标关键词：
分类号：TH16(机械制造工艺)
资助基金：国家自然科学基金(10171081)
论文发表日期：2005-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：5( 42-46 )
英文信息