19 citations · 23 across the 21 of their papers we have counts for
8 papers · 1 filter
Optimal Control of Incompressible Ideal Flows with Obstacle Avoidance
Alexandre Anahory Simoes, Anthony Bloch, Leonardo Colombo
It was shown in \cite{bloch2000optimal} that an optimal control formulation for incompressible ideal fluid flow yields Euler's equations. In this paper, we consider a variational o…
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…
Jacobi structure for dissipative mechanical systems on Lie Algebroids
Alexandre Anahory Simoes, Leonardo Colombo, Manuel de Leon +2
We extend the Jacobi structure from and to and , respectively, where is a Lie alge…
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…
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.…
Discrete gradient methods for irreversible port-Hamiltonian systems
Alexandre Anahory Simoes, David Martín de Diego, Bernhard Maschke
In this paper we introduce discrete gradient methods to discretize irreversible port-Hamiltonian systems showing that the main qualitative properties of the continuous system are p…
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…