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Bibliografie

Conference Paper (international conference)

Flatness and realization of virtual holonomic constraints in Lagrangian systems

Čelikovský Sergej

: IFAC-PapersOnLine. Volume 48, Issue 13, p. 25-30

: The 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control (2015), (Lyon, FR, 04.07.2015-07.07.2015)

: GA13-20433S, GA ČR

: Lagrangian systems, virtual holonomic constraints, collocated constraints, flatness

: 10.1016/j.ifacol.2015.10.209

(eng): The virtual holonomic constraints technique used widely to decompose possibly complex control design tasks for the mechanical system into several simpler tasks will be analyzed here. Following Spong's terminology from the underactuated mechanical systems theory, the so-called collocated virtual holonomic constraints are dened. It is then shown that a certain type of collocated constraints for Lagrangian system are state and feedback equivalent to the so-called at virtual holonomic constraints for Lagrangian system. The at holonomic constraints have the simplest possible form and therefore can be straightforwardly imposed by the feedback. Moreover, the Lagrangian system constrained with at constraints give the constrained system that is the Lagrangian one as well. Brief illustrative example is included and further discussion of the possible applications of these results is provided as well.

: BC

07.01.2019 - 08:39