0483394 20240111140953.520171218235959.9 85034611736 10.1007/978-3-319-69814-4 15 s. 1092 P cav_un_epca*0483393978-3-319-69813-71876-1100554-568ChamSpringer International Publishing AG2018DuyVo HoangDaoTran TrongZelinkaIvanKimSang BongPhuongTran Thanh Hamiltonian approach Collocated virtual holonomic constraints Underactuated systems cav_un_auth*0101074 Čelikovský Sergej UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0252057 Anderle Milan UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory CZ Ústav teorie informace a automatizace AV ČR, v. v. i. https://link.springer.com/chapter/10.1007/978-3-319-69814-4_53?no-access=true 367 Kb GA17-04682S GA ČR CZ cav_un_auth*0347203 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. BC 20000 20200 20205 2019 2 RVO:67985556 http://hdl.handle.net/11104/0278725 S 0.128 Q3 Q4 2018 85034611736 SCOPUS PUBMED WOS 367 Kb cav_un_epca*0483393 AETA 2017 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application 978-3-319-69813-7 1876-1100 1876-1119 554 568 Cham Springer International Publishing AG 2018 Lecture Notes in Electrical Engineering 465 340 Duy Vo Hoang 340 Dao Tran Trong 340 Zelinka Ivan 340 Kim Sang Bong 340 Phuong Tran Thanh