8 citations · 13 across the 10 of their papers we have counts for
7 papers · 1 filter
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…
Controlled Lagrangians and Stabilization of Discrete Mechanical Systems I
Anthony M. Bloch, Melvin Leok, Jerrold E. Marsden +1
Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as brok…
A Combinatorial Optimal Control Problem for Spacecraft Formation Reconfiguration
Taeyoung Lee, N. Harris McClamroch, Melvin Leok
We consider a spacecraft formation reconfiguration problem in the case of identical spacecraft. This introduces in the optimal reconfiguration problem a permutational degree of fre…