36 citations · 210 across the 58 of their papers we have counts for
8 papers · 1 filter
Structure Preserving Reduced Attitude Control of Gyroscopes
Nidhish Raj, Leonardo J. Colombo, Ashutosh Simha
We design a reduced attitude controller for reorienting the spin axis of a gyroscope in a geometric control framework. The proposed controller preserves the inherent gyroscopic sta…
Symmetry Reduction in Optimal Control of Multiagent Systems on Lie Groups
Leonardo Colombo, Dimos V. Dimarogonas
We study the reduction of degrees of freedom for the equations that determine necessary optimality conditions for extrema in an optimal control problem for a multiagent system by e…
Forced Variational Integrators for the Formation Control of Multi-Agent Systems
Leonardo Colombo, Hector Garcia de Marina
Formation control of autonomous agents can be seen as a physical system of individuals interacting with local potentials, and whose evolution can be described by a Lagrangian funct…
Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems
Leonardo Colombo, Patricio Moreno, Mengbin Ye +2
A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to ad…
Online learning-based trajectory tracking for underactuated vehicles with uncertain dynamics
Thomas Beckers, Leonardo Colombo, Sandra Hirche +1
Underactuated vehicles have gained much attention in the recent years due to the increasing amount of aerial and underwater vehicles as well as nanosatellites. Trajectory tracking…
A note on Hybrid Routh reduction for time-dependent Lagrangian systems
Leonardo J. Colombo, Maria Emma Eyrea Irazú, Eduardo García-Toraño Andrés
This note discusses Routh reduction for hybrid time-dependent mechanical systems. We give general conditions on whether it is possible to reduce by symmetries a hybrid time-depende…