2 papers
math.OC2026
Constrained Optimization on Matrix Lie Groups via Interior-Point Method
Aclécio J. Santos, Jean C. Pereira, Guilherme V. Raffo
This paper proposes an interior-point framework for constrained optimization problems whose decision variables evolve on matrix Lie groups. The proposed method, termed the Matrix L…
eess.SY2025
Stabilizing NMPC Approaches for Underactuated Mechanical Systems on the SE(3) Manifold
Jean C. Pereira, Valter J. S. Leite, Guilherme V. Raffo
This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freed…