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math.OC2000
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…
math.DS2000
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…
math.DG2000
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…