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OALib Journal期刊
ISSN: 2333-9721
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Controllability for single-input mechanical control systems with dissipation

Keywords: Mechanics,Controllability,Affine connection,Symmetric product,Isotropic dissipation

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Abstract:

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.

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