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Configuration controllability for mechanical systems underactuated by one control
J. Cortés, S. Martínez
SIAM Journal on Control and Optimization 41 (6) (2003), 1901-1921

Abstract

We investigate local configuration controllability for mechanical control systems within the affine connection formalism. Extending the work by Lewis for the single-input case, we are able to characterize local configuration controllability for systems with n degrees of freedom and n-1 input forces.

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Mechanical and Aerospace Engineering, University of California, San Diego
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