Andrew D. Lewis's Preprints

The listing is roughly in reverse chronological order. The "Last Updated" tag means the last time the pdf files were updated, not the TeX files.

These are the preprint versions of the papers, and will differ somewhat from what you will see published. I do not accept responsibility for those items which have not been reviewed.

Here is the AMS Subject Classification.

2011d
Title: Generalised subbundles, distributions, and families of vector fields: A comprehensive review
Author(s): Andrew D. Lewis
Detail: Preprint

2011b
Title: Small-time local controllability of homogeneous systems
Author(s): César O. Aguilar and Andrew D. Lewis
Detail: Preprint

2011a
Title: Geometric interpretations of the symmetric product in affine differential geometry
Author(s): María Barbero-Liñán and Andrew D. Lewis
Detail: Preprint

2010c
Title: Geometric Jacobian linearization and LQR theory
Author(s): Andrew D. Lewis and David R. Tyner
Detail: Journal of Geometric Mechanics, 2(4), pages 397-440, 2010

2010b
Title: A top nine list: Most popular induced matrix norms
Author(s): Andrew D. Lewis
Detail: Preprint

2010a
Title: Local controllability of affine distributions
Author(s): César O. Aguilar
Detail: PhD Thesis, Queen's University

2009c
Title: A geometric approach to energy shaping
Author(s): Bahman Gharesifard
Detail: PhD Thesis, Queen's University

2009b
Title: A square Riemann integrable function whose Fourier transform is not square Riemann integrable
Author(s): Andrew D. Lewis
Detail: Preprint

2009a
Title: Subsets of Euclidean domains possessing a unique division algorithm
Author(s): Andrew D. Lewis
Detail: Preprint

2008d
Title: A geometric framework for stabilization by energy shaping: Sufficient conditions for existence of solutions
Author(s): Bahman Gharesifard, Andrew D. Lewis, and Abdol-Reza Mansouri
Detail: Communications for Information and Systems 8(4), Special issues dedicated to Roger Brockett, pages 353-398, 2008

2008c
Title: Jet bundles and algebro-geometric characterisations for controllability of affine systems
Author(s): César O. Aguilar and Andrew D. Lewis
Detail: Proceedings of the 47th IEEE Conference on Decision and Control, December 2008, pages 1267-1274

2007e
Title: Geometric Jacobian linearization
Author(s): David R. Tyner
Detail: PhD Thesis, Queen's University

2007c
Title: Should we fly in the Lebesgue-designed airplane? - The correct defence of the Lebesgue integral
Author(s): Andrew D. Lewis
Detail: Preprint

2007b
Title: Geodesic reduction via frame bundle geometry
Author(s): Ajit Bhand
Detail: PhD Thesis, Queen's University

2006b
Title: Is it worth learning differential geometric methods for modelling and control of mechanical systems?
Author(s): Andrew D. Lewis
Detail: Robotica 26(6), pages 765-777, November 2007

2006a
Title: Potential energy shaping after kinetic energy shaping
Author(s): Andrew D. Lewis
Detail: Proceedings of the 45th IEEE Conference on Decision and Control, December 2006, pages 3339-3344

2005e
Title: An example with interesting controllability and stabilisation properties
Author(s): Ron M. Hirschorn and Andrew D. Lewis
Detail: Proceedings of the 45th IEEE Conference on Decision and Control, December 2006, pages 3748-3753

2005c
Title: Coordinate-free derivation of the Euler-Lagrange equations and identification of global solutions via local behavior
Author(s): Elsa K. Hansen
Detail: MSc Thesis, Queen's University

2004g
Title: Notes on energy shaping
Author(s): Andrew D. Lewis
Detail: Proceedings of the 43rd IEEE Conference on Decision and Control, December 2004, pages 4818-4823

2004f
Title: Reduction, linearization, and stability of relative equilibria for mechanical systems on Riemannian manifolds
Author(s): Francesco Bullo and Andrew D. Lewis
Detail: Acta Applicandae Mathematicae, 99(1), pages 53-95, 2007

2004e
Title: Discussion on: ``Dynamic Sliding Mode Control for a Class of Systems with Mismatched Uncertainty''
Author(s): Andrew D. Lewis
Detail: European Journal of Control, 11, 12-15, 2005

2004d
Title: Rigid body mechanics in Galilean spacetimes
Author(s): Ajit Bhand and Andrew D. Lewis
Detail: Journal of Mathematical Physics, 46(11), 102902, 29 pages

2003b
Title: Controllability of a hovercraft model (and two general results)
Author(s): Andrew D. Lewis and David R. Tyner
Detail: Proceedings of the 43rd IEEE Conference on Decision and Control, December 2004, pages 1204-1209

2003a
Title: Jacobian linearisation in a geometric setting
Author(s): Andrew D. Lewis and David R. Tyner
Detail: Proceedings of the 42nd IEEE Conference on Decision and Control, December 2003, pages 6084-6089

2002m
Title: Linearization of affine connection control systems
Author(s): David Tyner
Detail: MSc Thesis, Queen's University

2002l
Title: Rigid body mechanics in Galilean spacetimes
Author(s): Ajit Bhand
Detail: MSc Thesis, Queen's University

2002k
Title: Geometric sliding mode control: The linear and linearised theory
Author(s): Ron M. Hirschorn and Andrew D. Lewis
Detail: Preprint

2002j
Title: Low-order controllability and kinematic reductions for affine connection control systems
Author(s): Francesco Bullo and Andrew D. Lewis
Detail: SIAM Journal on Control and Optimization 44(3), pages 885-908, 2005

2002i
Title: The linearisation of a simple mechanical control system
Author(s): Francesco Bullo and Andrew D. Lewis
Detail: Preprint

2002f
Title: What is the characteristic polynomial of a signal flow graph?
Author(s): Andrew D. Lewis
Detail: Sixty Open Problems in Mathematical Systems and Control Theory, Vincent Blondel and Alexandre Megretski (Eds.), Princeton University Press, ISBN 0-691-11748-9, pages 326-329, 2004

2002d
Title: Geometric local controllability: second-order conditions
Author(s): Ron M. Hirschorn and Andrew D. Lewis
Detail: Preprint

2002c
Title: High-order variations for families of vector fields
Author(s): Ron M. Hirschorn and Andrew D. Lewis
Detail: SIAM Journal on Control and Optimization, 43(1), pages 301-324, 2004

2002b
Title: Geometric local controllability: second-order conditions
Author(s): Ron M. Hirschorn and Andrew D. Lewis
Detail: Proceedings of 40th IEEE Conference on Decision and Control, December 2002, pages 368-369

2002a
Title: Vector-valued quadratic forms in control theory
Author(s): Francesco Bullo, Jorge Cortes, Andrew D. Lewis, and Sonia Martinez
Detail: Sixty Open Problems in Mathematical Systems and Control Theory, Vincent Blondel and Alexandre Megretski (Eds.), Princeton University Press, ISBN 0-691-11748-9, pages 315-320, 2004

2001j
Title: Controllable kinematic reductions for mechanical systems: concepts, computational tools, and examples
Author(s): Francesco Bullo, Andrew D. Lewis, and Kevin M. Lynch
Detail: Proceedings of MTNS02, University of Notre Dame, August 2002

2001i
Title: Kinematic controllability and motion planning for the snakeboard
Author(s): Francesco Bullo and Andrew D. Lewis
Detail: IEEE Transactions on Robotics and Automation 19(3), pages 494-498, 2003 (IEEE copyright)

2001c
Title: A high order sufficient condition for local controllability
Author(s): Ron M. Hirschorn and Andrew D. Lewis
Detail: Proceedings of 40th IEEE Conference on Decision and Control, December 2001, pages 2607-2612

2001b
Title: Geometric first-order controllability conditions for affine connection control systems
Author(s): Ron M. Hirschorn and Andrew D. Lewis
Detail: Proceedings of 40th IEEE Conference on Decision and Control, December 2001, pages 4216-4211

2000k
Title: Time-optimal control of two simple mechanical systems with three degrees of freedom and two inputs
Author(s): A. Theo Coombs
Detail: MSc Thesis, Queen's University

2000h
Title: Optimal control for a simplified hovercraft model
Author(s): A. Theo Coombs and Andrew D. Lewis
Detail: Unpublished

2000d
Title: The geometry of the maximum principle for affine connection control systems
Author(s): Andrew D. Lewis
Detail: Preprint

2000c
Title: On the homogeneity of the affine connection model for mechanical control systems
Author(s): Francesco Bullo and Andrew D. Lewis
Detail: Proceedings of the 39th IEEE Conference on Decision and Control, December 2000, pages 1260-1265 (IEEE copyright)

1999d
Title: Affine connection control systems
Author(s): Andrew D. Lewis
Detail: IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control

1998g
Title: Configuration controllability of simple mechanical control systems
Author(s): Andrew D. Lewis and Richard M. Murray
Detail: SIAM Review. A Publication of the Society for Industrial and Applied Mathematics 41(3), pages 555-574, 1999 (Note: This paper is a watered down, easier to read, version of a paper with the same title which appeared in the SIAM Journal on Control and Optimization.)

1998e
Title: When is a mechanical control system kinematic?
Author(s): Andrew D. Lewis
Detail: Proceedings of the 38th IEEE Conference on Decision and Control, December 1999, pages 1162-1167

1998d
Title: Lifting distributions to tangent and jet bundles
Author(s): Andrew D. Lewis
Detail: Unpublished

1998c
Title: Towards F=ma in a general setting for Lagrangian mechanics
Author(s): Andrew D. Lewis
Detail: Annales Henri Poincaré 1(3), pages 569-605, 2000

1997i
Title: Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups
Author(s): Francesco Bullo, Naomi E. Leonard, and Andrew D. Lewis
Detail: IEEE Transactions on Automatic Control 45(8), pages 1437-1454, 2000 (IEEE copyright)

1997g
Title: Variational principles for nonlinearly constrained systems in one independent variable
Author(s): Andrew D. Lewis
Detail: Unpublished

1997d
Title: Energy-preserving affine connections
Author(s): Andrew D. Lewis
Detail: Unpublished

1997c
Title: Simple mechanical control systems with constraints
Author(s): Andrew D. Lewis
Detail: IEEE Transactions on Automatic Control 45(8), pages 1420-1436, 2000 (IEEE copyright)

1996h
Title: Affine connections and distributions
Author(s): Andrew D. Lewis
Detail: Appears as ``Affine connections and distributions with applications to nonholonomic mechanics'' in Reports on Mathematical Physics 42(1/2), pages 135-164, 1998 (Proceedings for the workshop on Non-Holonomic Constraints in Dynamics held in Calgary in August 1997)

1996f
Title: Local configuration controllability for a class of mechanical systems with a single input
Author(s): Andrew D. Lewis
Detail: Proceedings of the 1997 European Control Conference

1996c
Title: Configuration controllability of mechanical systems on Lie groups
Author(s): Francesco Bullo and Andrew D. Lewis
Detail: Proceedings of MTNS '96

1996b
Title: Decompositions of control systems on manifolds with an affine connection
Author(s): Andrew D. Lewis and Richard M. Murray
Detail: Systems & Control Letters 31(4), pages 199-205, 1997

1995f
Title: Aspects of Geometric Mechanics and Control of Mechanical Systems
Author(s): Andrew D. Lewis
Detail: Ph.D. Thesis, defended 21 April, 1995, CDS Technical Memorandum CIT-CDS 95-017

1995d
Title: The geometry of the Gibbs-Appell equations and Gauss's Principle of Least Constraint
Author(s): Andrew D. Lewis
Detail: Reports on Mathematical Physics 38(1), pages 11-28, 1996

1995c
Title: Configuration controllability of simple mechanical control systems
Author(s): Andrew D. Lewis and Richard M. Murray
Detail: SIAM Journal on Control and Optimization 35(3), pages 766-790, May 1997

1995b
Title: The mechanics of undulatory locomotion: the mixed kinematic and dynamic case
Author(s): James P. Ostrowski, Joel W. Burdick, Andrew D. Lewis, and Richard M. Murray
Detail: Proceedings of the 1995 IEEE International Conference on Robotics and Automation, May 1995, pages 1945-1951 (IEEE copyright)

1995a
Title: Configuration controllability for a class of mechanical systems
Author(s): Andrew D. Lewis and Richard M. Murray
Detail: Proceedings of the 34th IEEE Conference on Decision and Control, December 1995, pages 1-5

1994g
Title: Variational principles for constrained systems: theory and experiment
Author(s): Andrew D. Lewis and Richard M. Murray
Detail: The International Journal of Nonlinear Mechanics 30(6), pages 793-815, 1995

1993f
Title: Nonholonomic mechanics and locomotion: the snakeboard example
Author(s): Andrew D. Lewis, James P. Ostrowski, Joel W. Burdick, and Richard M. Murray
Detail: Proceedings of the 1994 IEEE International Conference on Robotics and Automation, May 1994, pages 2391-2400 (IEEE copyright)

1992b
Title: Group structures in a class of control systems
Author(s): Andrew D. Lewis
Detail: Unpublished

1991g
Title: Determining optimal points of membership with dependent variables
Author(s): Kevin N. Otto, Andrew D. Lewis, and Erik K. Antonsson
Detail: Fuzzy Sets and Systems 60(1), pages 19-24, 1993

1991f
Title: Approximating $\alpha$-cuts with the vertex method
Author(s): Kevin N. Otto, Andrew D. Lewis, and Erik K. Antonsson
Detail: Fuzzy Sets and Systems 55(1), pages 43-50, 1993

1991e
Title: Membership induced on manifolds by vector fields and flows
Author(s): Kevin N. Otto, Andrew D. Lewis, and Erik K. Antonsson
Detail: Fuzzy Sets and Systems 70(1), pages 15-29, 1995

1991a
Title: Lagrangian submanifolds and an application to the reduced Schrödinger equation in central force problems
Author(s): Andrew D. Lewis
Detail: Letters in Mathematical Physics 25(3), pages 189-201, 1992

1990a
Title: Further numerical studies of oblique impact
Author(s): Robert J. Rogers and Andrew D. Lewis
Detail: Journal of Sound and Vibration 141(3), pages 507-510, 1990

1988a
Title: Experimental and numerical study of forces during oblique impact
Author(s): Andrew D. Lewis and Robert J. Rogers
Detail: Journal of Sound and Vibration 125(3), pages 403-412, 1988

Andrew D. Lewis (andrew at mast.queensu.ca)