| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0445948 |
| utime |
20240111140905.4 |
| mtime |
20160229235959.9 |
| SCOPUS |
84954520891 |
| DOI |
10.1016/j.ifacol.2015.10.209 |
| title
(primary) (eng) |
Flatness and realization of virtual holonomic constraints in Lagrangian systems |
| specification |
| page_count |
6 s. |
| media_type |
C |
|
| serial |
| ARLID |
cav_un_epca*0457288 |
| ISSN |
2405-8963 |
| title
|
IFAC-PapersOnLine. Volume 48, Issue 13 |
| part_title |
5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2015 - Lyon, France, 4-7 July 2015 |
| page_num |
25-30 |
| publisher |
| place |
Lyon |
| name |
IFAC |
| year |
2015 |
|
|
| keyword |
Lagrangian systems |
| keyword |
virtual holonomic constraints |
| keyword |
collocated constraints |
| keyword |
flatness |
| author
(primary) |
| ARLID |
cav_un_auth*0101074 |
| name1 |
Čelikovský |
| name2 |
Sergej |
| full_dept (cz) |
Teorie řízení |
| full_dept (eng) |
Department of Control Theory |
| department (cz) |
TŘ |
| department (eng) |
TR |
| institution |
UTIA-B |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
| source_type |
textový dokument |
| source_size |
213 KB |
|
| cas_special |
| project |
| project_id |
GA13-20433S |
| agency |
GA ČR |
| ARLID |
cav_un_auth*0292613 |
|
| abstract
(eng) |
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. |
| action |
| ARLID |
cav_un_auth*0318198 |
| name |
The 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control (2015) |
| place |
Lyon |
| dates |
04.07.2015-07.07.2015 |
| country |
FR |
|
| reportyear |
2016 |
| RIV |
BC |
| num_of_auth |
1 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0247990 |
| confidential |
S |
| mrcbT16-s |
0.326 |
| mrcbT16-4 |
Q3 |
| mrcbT16-E |
Q3 |
| arlyear |
2015 |
| mrcbU14 |
84954520891 SCOPUS |
| mrcbU56 |
textový dokument 213 KB |
| mrcbU63 |
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 |
|