On the collocated virtual holonomic constraints in Lagrangian systems
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F16%3A00460762" target="_blank" >RIV/67985556:_____/16:00460762 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
On the collocated virtual holonomic constraints in Lagrangian systems
Original language description
In this paper, the collocated virtual holonomic constraints are introduced in the coordinate free manner and their flat coordinates representation is derived. Flat coordinates are those where the virtual holonomic constraints are given by a subset of coordinates components put to be zero. The flat coordinates representation enables a clear description of both the constraint system and the feedback imposing it. Results are illustrated by swinging up the mechanical four link chain. Possible outlooks for walking design are discussed as well.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
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
Others
Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the American Control Conference (ACC), 2016
ISBN
978-1-4673-8681-4
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
6030-6035
Publisher name
IEEE
Place of publication
Boston
Event location
Boston
Event date
Jul 6, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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