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20072015
most citedNonlinear Robust Tracking Control of a Quadrotor UAV on SE(3)

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math.NA2007

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…