73 citations · 670 across the 56 of their papers we have counts for
3 papers · 1 filter
Variational integrators for underactuated mechanical control systems with symmetries
Leonardo Colombo, Fernando Jiménez, David Martín de Diego
Optimal control problems for underactuated mechanical systems can be seen as a higher-order variational problem subject to higher-order constraints (that is, when the Lagrangian fu…
A Hamilton-Jacobi Theory for Singular Lagrangian Systems in the Skinner and Rusk Setting
Manuel de León, David Martín de Diego, Miguel Vaquero
We develop a Hamilton-Jacobi theory for singular lagrangian systems in the Skinner-Rusk formalism. Comparisons with the Hamilton-Jacobi problem in the lagrangian and hamiltonian se…
On the Hamilton-Jacobi Theory for Singular Lagrangian Systems
Manuel de León, Juan Carlos Marrero, David Martín de Diego +1
We develop a Hamilton-Jacobi theory for singular lagrangian systems using the Gotay-Nester-Hinds constraint algorithm. The procedure works even if the system has secondary constrai…