106 citations · 677 across the 72 of their papers we have counts for
4 papers · 1 filter
Variational and Geometric Structures of Discrete Dirac Mechanics
Melvin Leok, Tomoki Ohsawa
In this paper, we develop the theoretical foundations of discrete Dirac mechanics, that is, discrete mechanics of degenerate Lagrangian/Hamiltonian systems with constraints. We fir…
Dynamics of Connected Rigid Bodies in a Perfect Fluid
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
This paper presents an analytical model and a geometric numerical integrator for a system of rigid bodies connected by ball joints, immersed in an irrotational and incompressible f…
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…