On nonlinear controllability and series expansions for Lagrangian systems with dissipative forces

Jorge Cortés; Sonia Martinéz; Francesco Bullo

doi:10.1109/TAC.2002.801187

On nonlinear controllability and series expansions for Lagrangian systems with dissipative forces

Jorge Cortés, Sonia Martinéz, Francesco Bullo

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11 Citations (Scopus)

Abstract

This paper presents series expansions and nonlinear controllability results for Lagrangian systems subject to dissipative forces. The treatment relies on the assumption of dissipative forces of linear isotropic nature. The approach is based on the affine connection formalism for Lagrangian control systems, and on the homogeneity property of all relevant vector fields.

Original language	English
Pages (from-to)	1396-1401
Journal	IEEE transactions on automatic control
Volume	47
Issue number	8
DOIs	https://doi.org/10.1109/TAC.2002.801187
Publication status	Published - 2002

Keywords

Mechanical control systems
Series expansions
Nonlinear controllability

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10.1109/TAC.2002.801187

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title = "On nonlinear controllability and series expansions for Lagrangian systems with dissipative forces",

abstract = "This paper presents series expansions and nonlinear controllability results for Lagrangian systems subject to dissipative forces. The treatment relies on the assumption of dissipative forces of linear isotropic nature. The approach is based on the affine connection formalism for Lagrangian control systems, and on the homogeneity property of all relevant vector fields.",

keywords = "Mechanical control systems, Series expansions, Nonlinear controllability",

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AU - Martinéz, Sonia

AU - Bullo, Francesco

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AB - This paper presents series expansions and nonlinear controllability results for Lagrangian systems subject to dissipative forces. The treatment relies on the assumption of dissipative forces of linear isotropic nature. The approach is based on the affine connection formalism for Lagrangian control systems, and on the homogeneity property of all relevant vector fields.

KW - Mechanical control systems

KW - Series expansions

KW - Nonlinear controllability

U2 - 10.1109/TAC.2002.801187

DO - 10.1109/TAC.2002.801187

M3 - Article

VL - 47

SP - 1396

EP - 1401

JO - IEEE transactions on automatic control

JF - IEEE transactions on automatic control

SN - 0018-9286

IS - 8

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On nonlinear controllability and series expansions for Lagrangian systems with dissipative forces

Abstract

Keywords

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