Mechanical control systems on Lie algebroids

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dc.creatorCortes, Jorge
dc.creatorMartinez, Eduardo
dc.date2004-02-26
dc.date.accessioned2026-07-07T05:05:46Z
dc.date.available2026-07-07T05:05:46Z
dc.descriptionThis paper considers control systems defined on Lie algebroids. After deriving basic controllability tests for general control systems, we specialize our discussion to the class of mechanical control systems on Lie algebroids. This class of systems includes mechanical systems subject to holonomic and nonholonomic constraints, mechanical systems with symmetry and mechanical systems evolving on semidirect products. We introduce the notions of linear connection, symmetric product and geodesically invariant subbundle on a Lie algebroid. We present appropriate tests for various notions of accessibility and controllability, and analyze the relation between the controllability properties of control systems related by a morphism of Lie algebroids.
dc.description29 pages, no figures. To appear in IMA Journal of Mathematical Control and Information
dc.identifierhttps://arxiv.org/abs/math/0402437
dc.identifierhttp://arxiv.org/abs/math/0402437
dc.identifierIMA Journal of Mathematical Control and Information 21 (4) (2004), 457-492
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/70290
dc.subjectOptimization and Control
dc.subjectDifferential Geometry
dc.subject70Q05; 93B05; 93B29
dc.titleMechanical control systems on Lie algebroids
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