Flatness and realization of virtual holonomic constraints in Lagrangian systems

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F15%3A00445948" target="_blank" >RIV/67985556:_____/15:00445948 - isvavai.cz</a>

Result on the web

<a href="http://dx.doi.org/10.1016/j.ifacol.2015.10.209" target="_blank" >http://dx.doi.org/10.1016/j.ifacol.2015.10.209</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.ifacol.2015.10.209" target="_blank" >10.1016/j.ifacol.2015.10.209</a>

Result language

angličtina

Original language name

Flatness and realization of virtual holonomic constraints in Lagrangian systems

Original language description

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 systemstheory, 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.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

BC - Theory and management systems

OECD FORD branch

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Project

<a href="/en/project/GA13-20433S" target="_blank" >GA13-20433S: Analysis and control of globally decomposed strongly nonlinear state space dynamical models with complex interactions of their components</a><br>

Continuities

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year

2015

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

IFAC-PapersOnLine. Volume 48, Issue 13

ISBN

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ISSN

2405-8963

e-ISSN

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Number of pages

6

Pages from-to

25-30

Publisher name

IFAC

Place of publication

Lyon

Event location

Lyon

Event date

Jul 4, 2015

Type of event by nationality

EUR - Evropská akce

UT code for WoS article

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