21 citations · 38 across the 6 of their papers we have counts for
7 papers
New insights in the geometry and interconnection of port-Hamiltonian systems
M. Barbero-Liñán, H. Cendra, E. García-Toraño Andrés +1
We discuss a new geometric construction of port-Hamiltonian systems. Using this framework, we revisit the notion of interconnection providing it with an intrinsic description. Spec…
The inverse problem of the calculus of variations for discrete systems
María Barbero-Liñán, Marta Farré Puiggalí, Sebastián Ferraro +1
We develop a geometric version of the inverse problem of the calculus of variations for discrete mechanics and constrained discrete mechanics. The geometric approach consists of us…
Isotropic submanifolds and the inverse problem for mechanical constrained systems
María Barbero-Liñán, Marta Farré Puiggalí, David Martín de Diego
The inverse problem of the calculus of variations consists in determining if the solutions of a given system of second order differential equations correspond with the solutions of…
Kinematic reduction and the Hamilton-Jacobi equation
María Barbero-Liñán, Manuel de León, Juan Carlos Marrero +2
A close relationship between the classical Hamilton-Jacobi theory and the kinematic reduction of control systems by decoupling vector fields is shown in this paper. The geometric i…
Characterization of accessibility for affine connection control systems at some points with nonzero velocity
María Barbero-Liñán
Affine connection control systems are mechanical control systems that model a wide range of real systems such as robotic legs, hovercrafts, planar rigid bodies, rolling pennies, sn…
High order sufficient conditions for tracking
María Barbero-Liñán, Mario Sigalotti
In this paper, we study under which conditions the trajectories of a mechanical control system can track any curve on the configuration manifold. We focus on systems that can be re…
Unified formalism for non-autonomous mechanical systems
María Barbero-Liñán, Arturo Echeverrí a-Enríquez, David Martín de Diego +2
We present a unified geometric framework for describing both the Lagrangian and Hamiltonian formalisms of regular and non-regular time-dependent mechanical systems, which is based…