| bibtype |
M -
Monography Chapter
|
| ARLID |
0483394 |
| utime |
20240111140953.5 |
| mtime |
20171218235959.9 |
| SCOPUS |
85034611736 |
| DOI |
10.1007/978-3-319-69814-4 |
| title
(primary) (eng) |
On the Hamiltonian Approach to the Collocated Virtual Holonomic Constraints in the Underactuated Mechanical Systems |
| specification |
| page_count |
15 s. |
| book_pages |
1092 |
| media_type |
P |
|
| serial |
| ARLID |
cav_un_epca*0483393 |
| ISBN |
978-3-319-69813-7 |
| ISSN |
1876-1100 |
| title
|
AETA 2017 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application |
| page_num |
554-568 |
| publisher |
| place |
Cham |
| name |
Springer International Publishing AG |
| year |
2018 |
|
| editor |
|
| editor |
| name1 |
Dao |
| name2 |
Tran Trong |
|
| editor |
|
| editor |
| name1 |
Kim |
| name2 |
Sang Bong |
|
| editor |
| name1 |
Phuong |
| name2 |
Tran Thanh |
|
|
| keyword |
Hamiltonian approach |
| keyword |
Collocated virtual holonomic constraints |
| keyword |
Underactuated systems |
| author
(primary) |
| ARLID |
cav_un_auth*0101074 |
| name1 |
Čelikovský |
| name2 |
Sergej |
| institution |
UTIA-B |
| full_dept (cz) |
Teorie řízení |
| full_dept (eng) |
Department of Control Theory |
| department (cz) |
TŘ |
| department (eng) |
TR |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| author
|
| ARLID |
cav_un_auth*0252057 |
| name1 |
Anderle |
| name2 |
Milan |
| institution |
UTIA-B |
| full_dept (cz) |
Teorie řízení |
| full_dept |
Department of Control Theory |
| department (cz) |
TŘ |
| department |
TR |
| full_dept |
Department of Control Theory |
| country |
CZ |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
|
| cas_special |
| project |
| project_id |
GA17-04682S |
| agency |
GA ČR |
| country |
CZ |
| ARLID |
cav_un_auth*0347203 |
|
| abstract
(eng) |
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. |
| RIV |
BC |
| FORD0 |
20000 |
| FORD1 |
20200 |
| FORD2 |
20205 |
| reportyear |
2019 |
| num_of_auth |
2 |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0278725 |
| confidential |
S |
| mrcbT16-s |
0.128 |
| mrcbT16-4 |
Q3 |
| mrcbT16-E |
Q4 |
| arlyear |
2018 |
| mrcbU14 |
85034611736 SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
WOS |
| mrcbU56 |
367 Kb |
| mrcbU63 |
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 |
| mrcbU67 |
340 Duy Vo Hoang |
| mrcbU67 |
340 Dao Tran Trong |
| mrcbU67 |
340 Zelinka Ivan |
| mrcbU67 |
340 Kim Sang Bong |
| mrcbU67 |
340 Phuong Tran Thanh |
|