4 search results - page 1 / 1 » Discrete Nonholonomic Lagrangian Systems on Lie Groupoids |
JNS
2008
13 years 5 months ago
2008
This paper studies the construction of geometric integrators for nonholonomic systems. We derive the nonholonomic discrete Euler-Lagrange equations in a setting which permits to de...
IROS
2007
IEEE
13 years 11 months ago
2007
IEEE
— Standard methods to model multibody systems are aimed at systems with configuration spaces isomorphic to Rn . This limitation leads to singularities and other artifacts in cas...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
Abstract— This paper addresses the optimal control of nonholonomic systems through provably correct discretization of the system dynamics. The essence of the approach lies in the...
HYBRID
2007
Springer
13 years 11 months ago
2007
Springer
The aim of this paper is twofold. On one hand we present an approach to the general problem of nonlinear control in the framework of (differentiable) groupoids, which, in our opin...