Decompositions for control systems on manifolds with an affine connection

Systems and Control Letters

Volumn 31, Issue 4, 1997, Pages 199-205

  Lewis, Andrew D ^a   Murray, Richard M ^b  

^a UNIVERSITY OF WARWICK   (United Kingdom)

^b California Institute of Technology   (United States)

Author keywords

Affine connection; Controllability; Mechanics; Symmetric product

Indexed keywords

EID: 0000343395     PISSN: 01676911     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0167-6911(97)00040-6     Document Type: Article

References (8)

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2. A.M. Bloch, P.E. Crouch, Another view of nonholonomic mechanical control systems, in: Proc. 34th IEEE Conf. on Decision and Control, New Orleans, LA, December 1995, IEEE, New York, pp. 1066-1071.
3. P.E. Crouch, Geometric structures in systems theory, Proc. IEE-D 128 (5) (1981) 242-252.
4. S. Kobayashi, K. Nomizu, Foundations of Differential Geometry, vol. I, Interscience Publishers, New York, 1963.
5. A.D. Lewis, Affine connections and distributions, preprint, 1996.
6. A.D. Lewis, A symmetric product for vector fields and its geometric meaning, Math. Z., submitted. Tech. report CIT-CDS 96-003 available electronically via http://www.cds.caltech.edu/.
7. A.D. Lewis, R.M. Murray, Controllability of simple mechanical control systems, SIAM J. Control Optim. 35 (3) (1997) 766-790.
8. J.L. Synge, Geodesics in nonholonomic geometry, Math. Ann. 99 (1928) 738-751.