Globally controllable systems of rigid bodies with several stable rest states |
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| Institution: | 1. National Engineering Laboratory for Next Generation Internet Access System, Huazhong University of Science and Technology, Wuhan, Hubei 430074, China;3. College of Optical Sciences, The University of Arizona, Tucson, AZ 85721, USA;1. Laboratory of Combustion and Green Technologies, Department of Energetic Engineering, University Institute of Technology, University of Ngaoundere, P.O. Box 455, Cameroon;2. Department of Physics, Faculty of Sciences, University of Yaounde 1, Cameroon;3. Institut Pprime, UPR 3346 du CNRS, ENSMA, Poitiers, France |
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| Abstract: | Natural Langrangian systems, which model mechanisms with the kinematic structure of a tree and have several stable states of rest, are considered. Sufficient are presented for global controllability, that is, the property that the system can be brought, using an admissable control action, from any initial phase state to any given phase state in a finite time. As an example, global controllability is demonstrated foe an object consisting of several point masses connected in series by rods and sliding without friction on a closed smooth curve in a gravitational field, with a single control force applied in the direction of the velocity to the first link. |
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