106 citations · 677 across the 72 of their papers we have counts for
4 papers · 1 filter
Stokes-Dirac Structures through Reduction of Infinite-Dimensional Dirac Structures
Joris Vankerschaver, Hiroaki Yoshimura, Melvin Leok +1
We consider the concept of Stokes-Dirac structures in boundary control theory proposed by van der Schaft and Maschke. We introduce Poisson reduction in this context and show how St…
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…
Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3)
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
This paper provides new results for control of complex flight maneuvers for a quadrotor unmanned aerial vehicle (UAV). The flight maneuvers are defined by a concatenation of flight…
Discrete Hamiltonian Variational Integrators
Melvin Leok, Jingjing Zhang
We consider the continuous and discrete-time Hamilton's variational principle on phase space, and characterize the exact discrete Hamiltonian which provides an exact correspondence…