Sonia Martínez

Assistant Professor

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Geometric Control Theory

Journal publications



20. Control Geométrico de Sistemas Mecánicos (Geometric Control of Mechanical Systems)
    Sonia Martínez
    La Gaceta de la Real Sociedad Matemática Española, to appear (accepted 2005)
    


14. General symmetries in optimal control
    Manuel de León, Jorge Cortés, David Martín de Diego and Sonia Martínez
    Reports on Mathematical Physics 53 (1) (2004), 55-78
    


13. The consistency problem in optimal control: the degenerate case
    Jorge Cortés and Sonia Martínez
    Reports on Mathematical Physics 51 (2/3) (2003), 171-186
    


12. Analysis and design of oscillatory control systems
    Sonia Martínez, Jorge Cortés and Francesco Bullo
    IEEE Transactions on Automatic Control 48 (7) (2003), 1164-1177
    


11. Motion control algorithms for mechanical systems with symmetry
    Sonia Martínez and Jorge Cortés
    Acta Applicandae Mathematicae 76 (3) (2003), 221-264
    


10. Configuration controllability for mechanical systems underactuated by one control
    Jorge Cortés and Sonia Martínez
    SIAM Journal on Control and Optimization 41 (6) (2003), 1901-1921
    


8. Simple mechanical control systems with constraints and symmetry
   Jorge Cortés, Sonia Martínez, James P. Ostrowski and Hong Zhang
   SIAM Journal on Control and Optimization 41 (3) (2002), 851-874
   


7. On nonlinear controllability and series expansions for Lagrangian systems with dissipative forces
   J. Cortés, S. Martínez, F. Bullo
   IEEE Transactions on Automatic Control 47 (8) (2002), 1396-1401
   


5. Optimal gaits for dynamic robotic locomotion
   Jorge Cortés, Sonia Martínez, James P. Ostrowski, Kenneth A. McIsaac
   International Journal of Robotics Research 20 (9) (2001), 707-728
   
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Book chapters



3. Motion planning and control problems for underactuated robots
   Sonia Martínez, Jorge Cortés and Francesco Bullo
   Control Problems in Robotics, eds. A. Bicchi, H. Christensen and D. Prattichizzo, Springer Tracts in Advanced Robotics Series, vol. 4, Springer-Verlag, 2003, pp. 59-74


2. Vector-valued quadratic forms in control theory
   Francesco Bullo, Jorge Cortés, Anadrew D. Lewis and Sonia Martínez
   Unsolved Problems in Mathematical Systems and Control Theory, eds. V. Blondel and A. Megretski, Princeton University Press, 2004, pp. 315-320


1. An introduction to mechanics with symmetry
   Manuel de León, Jorge Cortés, David Martín de Diego and Sonia Martínez
   Recent Advances in Lie Theory, eds. I. Bajo, E. Sanmartin, Research and Exposition in Mathematics Series, vol. 25, Heldermann Verlag, 2002, pp. 305-332





Informative Papers



1. ¿Podemos imitar el vuelo de un insecto? (Can we imitate the flight of an insect?)
   Sonia Martínez
   Ars Medica. Revista de Humanidades 1 (2003), 154-156
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Conference proceedings



15. Generalized state-space averaging for port-controlled hamiltonian systems
    Carles Batlle, Enric Fossas, Robert Griñó and Sonia Martínez
    IFAC World Congress, Praga, Czech Republic, 2005


11. A catalog of inverse-kinematic planners for underactuated systems on matrix Lie groups
    Sonia Martínez, Jorge Cortés and Francesco Bullo
    Proceedings of the IEEE/RSJ Conf. Intelligent Robots and Systems, Las Vegas, Nevada, USA, 2003, pp. 625-630


10. Design of oscillatory control systems
    Sonia Martínez, Jorge Cortés and Francesco Bullo
    Proceedings of the 41st IEEE Int. Conf. Decision and Control, Las Vegas, Nevada, USA, 2002, pp. 1509-1514


9. Vector-valued quadratic forms in control theory
   Francesco Bullo, Jorge Cortés, Andrew D. Lewis and Sonia Martinez
   Workshop on Open Problems in Mathematical Systems and Control Theory, Symposium on Mathematical Theory of Networks and Systems, August 12-16, 2002, Notre Dame, Indiana, USA


7. Geometric control of robotic locomotion systems
   Sonia Martínez and Jorge Cortés
   Proceedings of the X Fall Workshop on Geometry and Physics, Miraflores de la Sierra, Spain, 2001, Publicaciones de la RSME, vol. 4 (2003), pp. 183-198
   


6. Controllability of mechanical systems with constraints and symmetries
   Jorge Cortés, Sonia Martínez, James P. Ostrowski and Hong Zhang
   15th International Symposium on Mathematical Theory of Networks and Systems, South Bend, Indiana, USA, 2002, electronic proceedings
   


4. Analysis of oscillatory control systems
   Sonia Martínez, Jorge Cortés and Francesco Bullo
   IFAC World Congress, Barcelona, Spain, 2002
   


3. On nonlinear controllability and series expansions for Lagrangian systems with damping
   Jorge Cortés, Sonia Martínez and Francesco Bullo
   Proceedings of the 40th IEEE Int. Conf. Decision and Control, Orlando, Florida, USA, 2001, pp. 2619-2624
   


1. Optimal control for nonholonomic systems with symmetry
   Jorge Cortés and Sonia Martínez
   Proceedings of the 39th IEEE Int. Conf. Decision and Control, Sydney, Australia, 2000, pp. 5216-5218
   




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