Simple mechanical control systems with constraints and symmetry

SIAM Journal on Control and Optimization

Volumn 41, Issue 3, 2003, Pages 851-874

  Cortes J ^a   Martinez S ^a   Ostrowski, J P ^b   Zhang, H ^c  

^a INSTITUTO DE MATEMÁTICAS Y FÍSICA FUNDAMENTAL   (Spain)

^b UNIVERSITY OF PENNSYLVANIA   (United States)

^c Rowan University   (United States)

Author keywords

Configuration controllability; Nonlinear control; Reduction; Symmetric product

Indexed keywords

CONSTRAINT THEORY; CONTROLLABILITY; LAGRANGE MULTIPLIERS; MATRIX ALGEBRA; MECHANICAL VARIABLES CONTROL; MOBILE ROBOTS; MOTION PLANNING; ORDINARY DIFFERENTIAL EQUATIONS; VECTORS;

AFFINE CONNECTION CONTROL SYSTEMS; MECHANICAL CONTROL SYSTEMS; PRINCIPAL FIBER BUNDLE; SNAKEBOARD ROBOT; SYMMETRIC PRODUCT; UNDERACTUATED MECHANICAL SYSTEMS;

NONLINEAR CONTROL SYSTEMS;

EID: 0038805146     PISSN: 03630129     EISSN: None     Source Type: Journal    
DOI: 10.1137/S0363012900381741     Document Type: Article

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