Selected Publications

• Zenkov, D.V. and V.V. Kozlov [1988] On Geometric Poinsot Interpretation for an n-Dimensional Rigid Body. Tr. Semin. Vectorn. Tenzorn. An. 23, 202–204.
• Zenkov, D.V. [1995] The Geometry of the Routh Problem. J. Nonlinear Science 5, 503–519. (pdf)
• Zenkov, D.V., A.M. Bloch, and J.E. Marsden[1998] The Energy-Momentum Method for Stability of Nonholonomic Systems. Dynamics and Stability of Systems 13, 123–165. (pdf)
• Zenkov, D.V. and A.M. Bloch [2000] Dynamics of the n-Dimensional Suslov Problem. Journal of Geometry and Physics 34, 121–136. (pdf)
• Zenkov, D.V., A.M. Bloch, N.E. Leonard, and J.E. Marsden [2000] Matching and Stabilization of Low-Dimensional Nonholonomic Systems. Proc. CDC 39, 1289–1295. (pdf)
• Zenkov, D.V. and A.M. Bloch [2001] Dynamics of Generalized Euler Tops with Constraints. Discrete and Continuous Dynamical Systems (extended volume), 398–405. (pdf)
• Zenkov, D.V., A.M. Bloch, and J.E. Marsden [2002] The Lyapunov–Malkin Theorem and Stabilization of the Unicycle with Rider. Systems and Control Letters 45, 293–302. (pdf)
• Zenkov, D.V., A.M. Bloch, and J.E. Marsden [2002] Flat Nonholonomic Matching. Proc. ACC, 2812–2817. (pdf)
• Zenkov, D.V. [2002] Matching and Stabilization of Linear Mechanical Systems. Proc. MTNS. (pdf)
• Zenkov, D.V. and A.M. Bloch [2003] Invariant Measures of Nonholonomic Flows with Internal degrees of Freedom. Nonlinearity 16, 1793–180 (pdf)
• Zenkov, D.V. [2003] Linear Conservation Laws of Nonholonomic Systems with Symmetry. Discrete and Continuous Dynamical Systems (extended volume), 963–972. (pdf)
• Zenkov, D.V., A.M. Bloch, and J.E. Marsden [2003] Controlled Lagrangian Methods and Tracking of Accelerated Motions. Proc. CDC 42, 533–538. (pdf)
• Bloch, A.M., J.E. Marsden, and D.V. Zenkov [2005] Nonholonomic Mechanics. Notices of the AMS 52, 324–333. (pdf)
• Fedorov, Yu.N. and D.V. Zenkov [2005] Dynamics of the Discrete Chaplygin Sleigh. Discrete and Continuous Dynamical Systems (extended volume), 258–267. (pdf)
• Fedorov, Yu.N. and D.V. Zenkov [2005] Discrete Nonholonomic LL systems on Lie Groups. Nonlinearity 18, 2211–2241. (pdf)
• Bloch, A.M., M. Leok, J.E. Marsden, and D.V. Zenkov [2005] Controlled Lagrangians and Stabilization of the Discrete Cart-Pendulum System. Proc. CDC 44, 6579–6584. (pdf)
• Osborne, J. and D.V. Zenkov [2005] Steering the Chaplygin Sleigh by a Moving Mass. Proc. CDC 44, 1114–1118. (pdf)
• Bloch, A.M., M. Leok, J.E. Marsden, and D.V. Zenkov [2006] Controlled Lagrangians and Potential Shaping for Stabilization of Discrete Mechanical Systems. Proc. CDC 45, 3333–3338. (pdf)
• Long, D.A. and D.V. Zenkov [2007] Relaxed Matching and Stabilization of Relative Equilibria. Proc. CDC 46, 6238–6243.
• Bloch, A.M., M. Leok, J.E. Marsden, and D.V. Zenkov [2007] Matching and Stabilization of Discrete Mechanical Systems. PAMM 7, 1030603–1030604.
• Long, D.A., A.M. Bloch, J.E. Marsden, and D.V. Zenkov [2008] Relaxed Matching for Stabilization of Mechanical Systems. Proc. MTNS. (pdf)
• Bloch, A.M., J.E. Marsden, and D.V. Zenkov [2009] Quasivelocities and Symmetries in Nonholonomic Systems. Dynamical Systems 24, 187–222. (pdf)
• Lynch, C., and D.V. Zenkov [2009] Stability of Stationary Motions of Discrete-Time Nonholonomic Systems. In: Problems of Analytical Mechanics and Stability Theory. Collection of Papers Dedicated to the Memory of Academician Valentine V. Rumyantsev, 259–271, Fizmatlit, Moscow (Russian, invited paper). (pdf)
• Bloch, A.M., J.E. Marsden, and D.V. Zenkov [2009] Quasivelocities and Stabilization of Relative Equilibria of Underactuated Nonholonomic Systems. Proc. CDC 48, 3335–3340. (pdf)
• Chang, D-E., D.A. Long, and D.V. Zenkov [2009] On Embedding of Control Systems into Euclidean Space. Proc. ICCAS–SICE, 1542–1546.
• Lynch, K.M., A.M. Bloch, S.V. Drakunov, M. Reyhanoglu, and D.V. Zenkov [2010] Control of Nonholonomic and Underactuated Systems. In: Levine, W.S. (Ed.), The Control Handbook: Control System Advanced Methods, 2nd edition, 42.1–42.36, CDC Press, Taylor and Francis.
• Bloch, A.M., M. Leok, J.E. Marsden, and D.V. Zenkov [2010] Controlled Lagrangians and Stabilization of Discrete Mechanical Systems. Discrete and Continuous Dynamical Systems–Series S 3, 19–36. (pdf)
• Ohsawa, T., O.E. Fernandez, A.M. Bloch, and D.V. Zenkov [2011] Nonholonomic Hamilton–Jacobi Theory via Chaplygin Hamiltonization. Journal of Geometry and Physics 61, 1263–1291. (pdf)
• Ball, K.R., D.V. Zenkov, and A.M. Bloch [2012] Variational Structures for Hamel's Equations and Stabilization. Proc. IFAC, 178–183. (pdf)
• Peng, Y., S. Huynh, D.V. Zenkov, and A.M. Bloch [2012] Controlled Lagrangians and Stabilization of Discrete Spacecraft with Rotor. Proc. CDC 51, 1285–1290. (pdf)
• Zenkov, D.V., M. Leok, and A.M. Bloch [2012] Hamel's Formalism and Variational Integrators on a Sphere. Proc. CDC 51, 7504–7510. (pdf)
• Maruskin, J.M., A.M. Bloch, J.E. Marsden, and D.V. Zenkov [2012] A Fiber Bundle Approach to the Transpositional Relations in Nonholonomic Mechanics. J. Nonlinear Science 22, 431–461. (pdf)
• Fernandez, O.E., A.M. Bloch, and D.V. Zenkov [2014] The Geometry and Integrability of the Suslov Problem. J. Math. Phys. 55, 112704. (pdf)
• Ball, K.R. and D.V. Zenkov [2015] Hamel's Formalism and Variational Integrators. (To appear)
• Bloch, A.M., D. Krupka, and D.V. Zenkov [2015] The Helmholtz Conditions and the Method of Controlled Lagrangians. (To appear)