106 citations · 193 across the 24 of their papers we have counts for
24 papers
Dynamics and Control of a Chain Pendulum on a Cart
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
A geometric form of Euler-Lagrange equations is developed for a chain pendulum, a serial connection of rigid links connected by spherical joints, that is attached to a rigid ca…
Stable Manifolds of Saddle Points for Pendulum Dynamics on S^2 and SO(3)
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
Attitude control systems naturally evolve on nonlinear configuration spaces, such as S^2 and SO(3). The nontrivial topological properties of these configuration spaces result in in…
Geometric Numerical Integration for Complex Dynamics of Tethered Spacecraft
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
This paper presents an analytical model and a geometric numerical integrator for a tethered spacecraft model that is composed of two rigid bodies connected by an elastic tether. Th…
Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3)
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
This paper provides new results for control of complex flight maneuvers for a quadrotor unmanned aerial vehicle (UAV). The flight maneuvers are defined by a concatenation of flight…
Computational Geometric Optimal Control of Connected Rigid Bodies in a Perfect Fluid
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
This paper formulates an optimal control problem for a system of rigid bodies that are connected by ball joints and immersed in an irrotational and incompressible fluid. The rigid…
Computational Dynamics of a 3D Elastic String Pendulum Attached to a Rigid Body and an Inertially Fixed Reel Mechanism
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
A high fidelity model is developed for an elastic string pendulum, one end of which is attached to a rigid body while the other end is attached to an inertially fixed reel mechanis…