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math.OC2004
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…
math.DG2004
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…