36 citations · 210 across the 58 of their papers we have counts for
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Contact formalism for dissipative mechanical systems on Lie algebroids
Alexandre Anahory Simoes, Leonardo Colombo, Manuel de Leon +2
In this paper, we introduce a geometric description of contact Lagrangian and Hamiltonian systems on Lie algebroids in the framework of contact geometry, using the theory of prolon…
Reduction by symmetries of contact mechanical systems on Lie groups
Alexandre Anahory Simoes, Leonardo Colombo, Manuel de León +3
We study the dynamics of contact mechanical systems on Lie groups that are invariant under a Lie group action. Analogously to standard mechanical systems on Lie groups, existing sy…
Jacobi structure for dissipative mechanical systems on Lie Algebroids
Alexandre Anahory Simoes, Leonardo Colombo, Manuel de Leon +2
We extend the Jacobi structure from and to and , respectively, where is a Lie alge…
Hamel equations and quasivelocities for nonholonomic systems with inequality constraints
Alexandre Anahory Simoes, Leonardo Colombo
In this paper we derive Hamel equations for the motion of nonholonomic systems subject to inequality constraints in quasivelocities. As examples, the vertical rolling disk hitting…
Higher-order retraction maps and construction of numerical methods for optimal control of mechanical systems
Alexandre Anahory Simoes, Maria Barbero Liñán, Leonardo Colombo +1
Retractions maps are used to define a discretization of the tangent bundle of the configuration manifold as two copies of the configuration manifold where the dynamics take place.…
Nonholonomic systems with inequality constraints
Alexandre Anahory Simoes, Leonardo Colombo
In this paper we derive the equations of motion for nonholonomic systems subject to inequality constraints, both, in continuous-time and discrete-time. The last is done by discreti…