%0 Journal Article
%T Controllability for single-input mechanical control systems with dissipation<br>
%A Jianling KANG
%A Hong WANG
%A Huawen YE
%A <br>
%J 控制理论与应用
%D 2005
%I 
%X Within the affine connection framework of Lagrangian control systems , based on the results of Sussmann on small- time locally controllability of single- input affine nonlinear control systems , the controllability results for mechanical control systems with single- input are extended to the case of the systems with isotropic damping ,where the Lagrangian is the kinetic energy associated with a Riemannian metric. A sufficient condition of negative small- time locally controllability for the system is obtained. Then ,it is demonstrated that such systems are small- time locally configuration controllable if and only if the dimension of the configuration manifold is one. Finally , two examples are given to illustrate the results. Lie bracketting of vector fields and the symmetric product show the advantages in the discussion.
%K Mechanics
%K Controllability
%K Affine connection
%K Symmetric product
%K Isotropic dissipation<br>
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=6AC7D24A56AA3A6DA261FF64289E2B1D&yid=2DD7160C83D0ACED&vid=38B194292C032A66&iid=CA4FD0336C81A37A&sid=ECE8E54D6034F642&eid=D997634CFE9B6321&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=0