8 citations · 13 across the 10 of their papers we have counts for
10 papers
Computational Geometric Optimal Control of Rigid Bodies
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
This paper formulates optimal control problems for rigid bodies in a geometric manner and it presents computational procedures based on this geometric formulation for numerically s…
Global Symplectic Uncertainty Propagation on SO(3)
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
This paper introduces a global uncertainty propagation scheme for rigid body dynamics, through a combination of numerical parametric uncertainty techniques, noncommutative harmonic…
Geometric structure-preserving optimal control of the rigid body
Anthony M. Bloch, Islam I. Hussein, Melvin Leok +1
In this paper we study a discrete variational optimal control problem for the rigid body. The cost to be minimized is the external torque applied to move the rigid body from an ini…
Time Optimal Attitude Control for a Rigid Body
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
A time optimal attitude control problem is studied for the dynamics of a rigid body. The objective is to minimize the time to rotate the rigid body to a desired attitude and angula…
Nonlinear Dynamics of the 3D Pendulum
Nalin A. Chaturvedi, Taeyoung Lee, Melvin Leok +1
A 3D pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom. The pendulum is acted on by a gravitational force. Symmetry assumption…
Discrete Control Systems
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
Discrete control systems, as considered here, refer to the control theory of discrete-time Lagrangian or Hamiltonian systems. These discrete-time models are based on a discrete var…