NDLI: Configuration controllability for non-zero potential mechanical control systems with dissipation

Content Provider	Springer Nature Link
Author	Jian ling, Kang Hua wen, Ye Hong, Wang
Copyright Year	2005
Abstract	Within the affine connection framework of Lagrangian control systems, based on the results of Sussmann on controllability of general affine control systems defined on a finite-dimensional manifold, a computable sufficient condition of configuration controllability for the simple mechanical control systems was extended to the case of systems with strictly dissipative energy terms of linear isotropic nature, and a sufficient condition of equilibrium controllability for the systems was also given, where Lagrangian is kinetic energy minus potential energy. Lie bracketting of vector fields in controllable Lie algebra, and the symmetric product associated with Levi-Civita connection show virtues in the discussion. Liouville vector field simplified the computation of controllable Lie algebra for the systems, although the terms of potential energy complicated the study of configuration controllability.
Ending Page	906
Page Count	7
Starting Page	900
File Format	PDF
ISSN	02534827
e-ISSN	15732754
Journal	Applied Mathematics and Mechanics
Issue Number	7
Volume Number	26
Language	English
Publisher	Springer-Verlag
Publisher Date	2005-01-01
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	affine connection controllability Local Riemannian geometry Mechanics Controllability mechanics Control of mechanical systems symmetric product Applications of Mathematics Mathematical Modeling and Industrial Mathematics isotropic dissipation
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Mechanics of Materials Mechanical Engineering

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