Title :
Geometric homogeneity and controllability of nonlinear systems
Author :
Vela, Patricio A. ; Burdick, Joel W.
Author_Institution :
Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
Abstract :
We followed-up a suggestion from Bullo and Lewis concerning the importance of geometric homogeneity for mechanical systems, that shows the controllability results for a large class of mechanical systems with drift can be recovered by considering a class of nonlinear dynamical systems satisfying certain homogeneity conditions.
Keywords :
motion control; nonlinear control systems; nonlinear dynamical systems; geometric homogeneity; mechanical control systems; motion control; nonlinear control systems; nonlinear dynamical systems; Control systems; Controllability; Geometry; Lagrangian functions; Mechanical systems; Nonlinear control systems; Nonlinear systems; Postal services; Sufficient conditions; Systems engineering and theory;
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Print_ISBN :
0-7803-7924-1
DOI :
10.1109/CDC.2003.1272239
