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math.OC2000
Characterization of Local Configuration Controllability for a Class of Mechanical Systems
J. Cortes, S. Martinez
We investigate local configuration controllability for mechanical control systems within the affine connection formalism. Extending the work by Lewis for the single-input case, we…
math.DG2000
Geometric description of vakonomic and nonholonomic dynamics. Comparison of solutions
Jorge Cortes, Manuel de Leon, David Martin de Diego +1
We treat the vakonomic dynamics with general constraints within a new geometric framework which will be appropriate to study optimal control problems. We compare our formulation wi…