106 citations · 677 across the 72 of their papers we have counts for
4 papers · 1 filter
Discrete Hamilton-Jacobi Theory
Tomoki Ohsawa, Anthony M. Bloch, Melvin Leok
We develop a discrete analogue of Hamilton-Jacobi theory in the framework of discrete Hamiltonian mechanics. The resulting discrete Hamilton-Jacobi equation is discrete only in tim…
Computational Geometric Optimal Control of Connected Rigid Bodies in a Perfect Fluid
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
This paper formulates an optimal control problem for a system of rigid bodies that are connected by ball joints and immersed in an irrotational and incompressible fluid. The rigid…
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…
Dynamics of a 3D Elastic String Pendulum
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
This paper presents an analytical model and a geometric numerical integrator for a rigid body connected to an elastic string, acting under a gravitational potential. Since the poin…