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Within the affine connection framework of Lagrangian control systems, based on the results of Sussmann on small-time locally controllability of single-input affine nonlinear control systems, the controllability results for mechanical control systems with single-input are extended to the case of the systems with isotropic damping, where the Lagrangian is the kinetic energy associated with a Riemannian metric. A sufficient condition of negative small-time locally controllability for the system is obtained. Then, it is demonstrated that such systems are small-time locally configuration controllable if and only if the dimension of the configuration manifold is one. Finally, two examples are given to illustrate the results. Lie bracketting of vector fields and the symmetric product show the advantages in the discussion.
Within the affine connection framework of Lagrangian control systems, based on the results of Sussmann on small-time locally controllability of single-input affine nonlinear control systems, the controllability results for mechanical control systems with single-input are extended to the case of the systems with isotropic damping, where the Lagrangian is the kinetic energy associated with a Riemannian metric. A sufficient condition of negative small-time locally controllability for the system is obtained. Then, it is justification that such systems are small-time locally configuration controllable if and only if the dimension of the configuration manifold is one. Finally, two examples are given to illustrate the results. Lie bracketting of vector fields and the symmetric product show the advantages in the discussion.