Title :
On the homogeneity of the affine connection model for mechanical control systems
Author :
Bullo, Francesco ; Lewis, Andrew D.
Author_Institution :
Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
Abstract :
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
Keywords :
controllability; mechanical engineering; nonlinear control systems; affine connection model homogeneity; mechanical control systems; nonlinear controllability; series expansions; Control system synthesis; Control systems; Controllability; Employment; Lagrangian functions; Lyapunov method; Machinery; Mechanical factors; Mechanical systems; Nonlinear control systems;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912028
