19 citations · 23 across the 21 of their papers we have counts for
4 papers · 2 filters
On the Geometry of Virtual Nonlinear Nonholonomic Constraints
Efstratios Stratoglou, Alexandre Anahory Simoes, Anthony Bloch +1
Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Nonholonomic syst…
Higher-order retraction maps and construction of numerical methods for optimal control of mechanical systems
Alexandre Anahory Simoes, Maria Barbero Liñán, Leonardo Colombo +1
Retractions maps are used to define a discretization of the tangent bundle of the configuration manifold as two copies of the configuration manifold where the dynamics take place.…
Nonholonomic systems with inequality constraints
Alexandre Anahory Simoes, Leonardo Colombo
In this paper we derive the equations of motion for nonholonomic systems subject to inequality constraints, both, in continuous-time and discrete-time. The last is done by discreti…
Virtual Affine Nonholonomic Constraints
Efstratios Stratoglou, Alexandre Anahory Simoes, Anthony Bloch +1
Virtual constraints are relations imposed in a control system that become invariant via feedback, instead of real physical constraints acting on the system. Nonholonomic systems ar…