1 citations · 1 across the 3 of their papers we have counts for
6 papers
Mechanical control systems on Lie algebroids
Jorge Cortes, Eduardo Martinez
This paper considers control systems defined on Lie algebroids. After deriving basic controllability tests for general control systems, we specialize our discussion to the class of…
Hamiltonian theory of constrained impulsive motion
Jorge Cortes, Alexandre M. Vinogradov
This paper considers systems subject to nonholonomic constraints which are not uniform on the whole configuration manifold. When the constraints change, the system undergoes a tran…
Characterization of gradient control systems
Jorge Cortes, Arjan van der Schaft, Peter E. Crouch
We investigate necessary and sufficient conditions under which a general nonlinear affine control system with outputs can be written as a gradient control system corresponding to s…
Characterization of Local Configuration Controllability for a Class of Mechanical Systems
J. Cortes, S. Martinez
We investigate local configuration controllability for mechanical control systems within the affine connection formalism. Extending the work by Lewis for the single-input case, we…
On the geometry of generalized Chaplygin systems
F. Cantrijn, J. Cortes, M. de Leon +1
Some aspects of the geometry and the dynamics of generalized Chaplygin systems are investigated. First, two different but complementary approaches to the construction of the reduce…
Geometric description of vakonomic and nonholonomic dynamics. Comparison of solutions
Jorge Cortes, Manuel de Leon, David Martin de Diego +1
We treat the vakonomic dynamics with general constraints within a new geometric framework which will be appropriate to study optimal control problems. We compare our formulation wi…