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In the search for useful strategies for movement of robotic systems (e.g. manipulators, platforms) in constrained environments (e.g. in space, underwater), there appear to be new principles emerging from a deeper geometric ...

In this paper we formulate and study an interesting (sub) optimal H∞ control problem related to the attenuation of impulsive disturbances to a class of linear systems. Among the motivating factors is the need to study ...

This paper is concerned with the exploration of reduction and explicit solvability of optimal control problems on principal bundles with connections from a Hamiltonian point of view. The particular mechanical system we ...