Configuration Controllability for Non-Zero Potential Mechanical Control Systems With Dissipation

KANG Jian-ling; WANG Hong; YE Hua-wen

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KANG Jian-ling, WANG Hong, YE Hua-wen. Configuration Controllability for Non-Zero Potential Mechanical Control Systems With Dissipation[J]. Applied Mathematics and Mechanics, 2005, 26(7): 826-832.

Citation:

KANG Jian-ling, WANG Hong, YE Hua-wen. Configuration Controllability for Non-Zero Potential Mechanical Control Systems With Dissipation[J]. Applied Mathematics and Mechanics, 2005, 26(7): 826-832.

Citation:

KANG Jian-ling, WANG Hong, YE Hua-wen. Configuration Controllability for Non-Zero Potential Mechanical Control Systems With Dissipation[J]. Applied Mathematics and Mechanics, 2005, 26(7): 826-832.

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Configuration Controllability for Non-Zero Potential Mechanical Control Systems With Dissipation

1.
Department of Applied Mathematics, Donghua University, Shanghai 200051, P. R. China;

Received Date: 2003-10-14
Rev Recd Date: 2005-03-22
Publish Date: 2005-07-15

Abstract

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 conditon 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.
- mechanics,
- controllability,
- affine connection,
- symmetric product,
- isotropic dissipation

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References(10)

References

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