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math.OC2004
Mechanical control systems on Lie algebroids
Jorge Cortes, Eduardo Martinez
This 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…
math.OC2003★ 1 cited
Characterization of gradient control systems
Jorge Cortes, Arjan van der Schaft, Peter E. Crouch
We investigate necessary and sufficient conditions under which a general nonlinear affine control system with outputs can be written as a gradient control system corresponding to s…
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…