Controllability of a class of underactuated mechanical systems with symmetry

In this paper we develop results based on geometric mechanics to study the controllability of a class of controlled under-actuated left invariant mechanical systems on Lie groups. We exploit the invariance of the controlled nonlinear dynamics to the group action (symmetry) to derive a set of reduced dynamics for the system. We

• Type: Journal
• Year: 2002
• Where: AUTOMATICA
• Authors: Vikram Manikonda, P. S. Krishnaprasad
• Keywords: AUTOMATICA 2002, Drift Vector, Mechanical Systems, Reduced Dynamics