0445948 20240111140905.420160229235959.9 84954520891 10.1016/j.ifacol.2015.10.209 6 s. C cav_un_epca*04572882405-89635th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2015 - Lyon, France, 4-7 July 201525-30LyonIFAC2015 Lagrangian systems virtual holonomic constraints collocated constraints flatness cav_un_auth*0101074 Čelikovský Sergej Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. textový dokument 213 KB GA13-20433S GA ČR cav_un_auth*0292613 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. cav_un_auth*0318198 The 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control (2015) Lyon 04.07.2015-07.07.2015 FR 2016 BC 1 PR RVO:67985556 http://hdl.handle.net/11104/0247990 S 0.326 Q3 Q3 2015 84954520891 SCOPUS textový dokument 213 KB cav_un_epca*0457288 IFAC-PapersOnLine. Volume 48, Issue 13 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2015 - Lyon, France, 4-7 July 2015 2405-8963 25 30 Lyon IFAC 2015