4 papers
Variational integrators for optimal control of foldable drones
L. Colombo, J. Giribet, D. Martín de Diego
Numerical methods that preserves geometric invariants of the system such as energy, momentum and symplectic form, are called geometric integrators. These include variational integr…
Nonholonomic mechanics and virtual constraints on Riemannian homogeneous spaces
Efstratios Stratoglou, Alexandre Anahory Simoes, Anthony Bloch +1
Nonholonomic systems are, so to speak, mechanical systems with a prescribed restriction on the velocities. A virtual nonholonomic constraint is a controlled invariant distribution…
The Interplay Between Symmetries and Impact Effects on Hybrid Mechanical Systems
William Clark, Leonardo Colombo, Anthony Bloch
Hybrid systems are dynamical systems with continuous-time and discrete-time components in their dynamics. When hybrid systems are defined on a principal bundle we are able to defin…
Hamel equations and quasivelocities for nonholonomic systems with inequality constraints
Alexandre Anahory Simoes, Leonardo Colombo
In this paper we derive Hamel equations for the motion of nonholonomic systems subject to inequality constraints in quasivelocities. As examples, the vertical rolling disk hitting…