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Controllability of mechanical systems with constraints and symmetries
J. Cortés, S. Martínez, J.P. Ostrowski, H. Zhang
15th International Symposium on Mathematical Theory of Networks and Systems, South Bend, Indiana, USA, 2002, electronic proceedings

Abstract

We develop tools within the affine connection formalism for the control of underactuated mechanical systems evolving on a principal fiber bundle. We present reduced formulations of the Levi-Civita and the nonholonomic affine connections in the presence of symmetries and nonholonomic constraints. Specialized controllability tests are developed, and the notion of fiber configuration controllability is introduced. The results are illustrated in a planar blimp.

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