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eess.SY2026
Structure-Preserving Learning of Nonholonomic Dynamics
Thomas Beckers, Anthony Bloch, Leonardo Colombo
Data-driven modeling is playing an increasing role in robotics and control, yet standard learning methods typically ignore the geometric structure of nonholonomic systems. As a con…
eess.SY2023
Completeness of Riemannian metrics: an application to the control of constrained mechanical systems
José Ángel Acosta, Anthony Bloch, David Martín de Diego
We introduce a mathematical technique based on modifying a given Riemannian metric and we investigate its applicability to controlling and stabilizing constrained mechanical system…