106 citations · 677 across the 72 of their papers we have counts for
7 papers · 1 filter
Global Formulations of Lagrangian and Hamiltonian Mechanics on Two-Spheres
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
This paper provides global formulations of Lagrangian and Hamiltonian variational dynamics evolving on the product of an arbitrary number of two-spheres. Four types of Euler-Lagran…
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…
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…
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…
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…