Characterization of Local Configuration Controllability for a Class of Mechanical Systems

2026-07-072026-07-07http://salesiana.dossiersoluciones.com/handle/123456789/59904We 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.20 pages, no figuresOptimization and ControlDifferential GeometryDynamical Systems53B05; 70Q05; 93B03; 93B05; 93B29Characterization of Local Configuration Controllability for a Class of Mechanical Systemstext