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N. Harris McClamroch

  1. Computational Geometric Optimal Control of Connected Rigid Bodies in a Perfect Fluid.

    Ср, 09/23/2009 - 13:19 — SomNambul
    Authors: Taeyoung Lee, Melvin Leok, N. Harris McClamroch
    Subjects: Optimization and Control
    Abstract

    This paper formulates an optimal control problem for a system of rigid bodies
    that are connected by ball joints and immersed in an irrotational and
    incompressible fluid. The rigid bodies can translate and rotate in
    three-dimensional space, and each joint has three rotational degrees of
    freedom. We assume that internal control moments are applied at each joint. We
    present a computational procedure for numerically solving this optimal control
    problem, based on a geometric numerical integrator referred to as a Lie group
    variational integrator.

  2. Computational Geometric Optimal Control of Connected Rigid Bodies in a Perfect Fluid.

    Ср, 09/23/2009 - 13:19 — SomNambul
    Authors: Taeyoung Lee, Melvin Leok, N. Harris McClamroch
    Subjects: Optimization and Control
    Abstract

    This paper formulates an optimal control problem for a system of rigid bodies
    that are connected by ball joints and immersed in an irrotational and
    incompressible fluid. The rigid bodies can translate and rotate in
    three-dimensional space, and each joint has three rotational degrees of
    freedom. We assume that internal control moments are applied at each joint. We
    present a computational procedure for numerically solving this optimal control
    problem, based on a geometric numerical integrator referred to as a Lie group
    variational integrator.

  3. Computational Dynamics of a 3D Elastic String Pendulum Attached to a Rigid Body and an Inertially Fixed Reel Mechanism.

    Пнд, 09/14/2009 - 09:01 — SomNambul
    Authors: Taeyoung Lee, Melvin Leok, N. Harris McClamroch
    Subjects: Dynamical Systems
    Abstract

    A high fidelity model is developed for an elastic string pendulum, one end of
    which is attached to a rigid body while the other end is attached to an
    inertially fixed reel mechanism which allows the unstretched length of the
    string to be dynamically varied. The string is assumed to have distributed mass
    and elasticity that permits axial deformations. The rigid body is attached to
    the string at an arbitrary point, and the resulting string pendulum system
    exhibits nontrivial coupling between the elastic wave propagation in the string
    and the rigid body dynamics.

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