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3 research outcomes, page 1 of 1
  • other research product . 1995
    Open Access English
    Authors:
    Lewis, Andrew D.; Murray, Richard M.;
    Persistent Identifiers

    handle: 1974/37

    Publisher: California Institute of Technology

    In this paper we present a definition of "configuration controllability" for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential energy. A computable test for this new version of controllability is also derived. This...

  • other research product . 1994
    Open Access
    Authors:
    Lewis, Andrew D.; Murray, Richard M.;
    Persistent Identifiers

    handle: 1974/36

    Publisher: California Institute of Technology

    In this paper we present two methods, the nonholonomic method and the vakonomic method, for deriving equations of motion for a mechanical system with constraints. The resulting equations are compared. Results are also presented from an experiment for a model system: a b...

  • other research product . 1995
    Open Access English
    Authors:
    Lewis, Andrew D.;
    Persistent Identifiers

    handle: 1974/39

    Many interesting control systems are mechanical control systems. In spite of this, there has not been much effort to develop methods which use the special structure of mechanical systems to obtain analysis tools which are suitable for these systems. In this dissertation...

3 research outcomes, page 1 of 1