42 citations · 43 across the 3 of their papers we have counts for
3 papers
Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3)
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor U…
Lagrangian Mechanics and Variational Integrators on Two-Spheres
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
Euler-Lagrange equations and variational integrators are developed for Lagrangian mechanical systems evolving on a product of two-spheres. The geometric structure of a product of t…
Discrete Routh Reduction
Sameer M. Jalnapurkar, Melvin Leok, Jerrold E. Marsden +1
This paper develops the theory of abelian Routh reduction for discrete mechanical systems and applies it to the variational integration of mechanical systems with abelian symmetry.…