On the Hamiltonian Approach to the Collocated Virtual Holonomic Constraints in the Underactuated Mechanical Systems
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F18%3A00483394" target="_blank" >RIV/67985556:_____/18:00483394 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1007/978-3-319-69814-4" target="_blank" >http://dx.doi.org/10.1007/978-3-319-69814-4</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-319-69814-4" target="_blank" >10.1007/978-3-319-69814-4</a>
Alternative languages
Result language
angličtina
Original language name
On the Hamiltonian Approach to the Collocated Virtual Holonomic Constraints in the Underactuated Mechanical Systems
Original language description
In this paper, the collocated virtual holonomic constraints for the underactuated mechanical system are represented in a special canonical form using its Hamiltonian description. This form is used to provide an alternative, backstepping based, algorithm how to impose these constraints. Its robustness is illustrated by simulated swinging up the mechanical four link chain with precisely unknown masses of its links.
Czech name
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Czech description
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Classification
Type
C - Chapter in a specialist book
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/GA17-04682S" target="_blank" >GA17-04682S: Control of walking robots using collocated virtual holonomic constraints</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Book/collection name
AETA 2017 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application
ISBN
978-3-319-69813-7
Number of pages of the result
15
Pages from-to
554-568
Number of pages of the book
1092
Publisher name
Springer International Publishing AG
Place of publication
Cham
UT code for WoS chapter
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