14 citations · 35 across the 21 of their papers we have counts for
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math.OC2012
Dynamics and Control of a Chain Pendulum on a Cart
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
A geometric form of Euler-Lagrange equations is developed for a chain pendulum, a serial connection of rigid links connected by spherical joints, that is attached to a rigid ca…
math-ph2012
Dirac Structures and Hamilton-Jacobi Theory for Lagrangian Mechanics on Lie Algebroids
Melvin Leok, Diana Sosa
This paper develops the notion of implicit Lagrangian systems on Lie algebroids and a Hamilton--Jacobi theory for this type of system. The Lie algebroid framework provides a natura…