106 citations · 677 across the 72 of their papers we have counts for
7 papers · 1 filter
Global Attitude Estimation using Uncertainty Ellipsoids
Taeyoung Lee, Amit K. Sanyal, Melvin Leok +1
Attitude estimation is often a prerequisite for control of the attitude or orientation of mechanical systems. Current attitude estimation algorithms use coordinate representations…
A Discrete Variational Integrator for Optimal Control Problems on SO(3)
Islam I. Hussein, Melvin Leok, Amit K. Sanyal +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…
Attitude Maneuvers of a Rigid Spacecraft in a Circular Orbit
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
A global model is presented that can be used to study attitude maneuvers of a rigid spacecraft in a circular orbit about a large central body. The model includes gravity gradient e…
Lie Group Variational Integrators for the Full Body Problem
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
We develop the equations of motion for full body models that describe the dynamics of rigid bodies, acting under their mutual gravity. The equations are derived using a variational…
Generalized Galerkin Variational Integrators
Melvin Leok
We introduce generalized Galerkin variational integrators, which are a natural generalization of discrete variational mechanics, whereby the discrete action, as opposed to the disc…
Discrete Exterior Calculus
Mathieu Desbrun, Anil N. Hirani, Melvin Leok +1
We present a theory and applications of discrete exterior calculus on simplicial complexes of arbitrary finite dimension. This can be thought of as calculus on a discrete space. Ou…