AETA 2017 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application

0483394 - ÚTIA 2019 RIV CH eng M - Monography Chapter
Čelikovský, Sergej - Anderle, Milan
On the Hamiltonian Approach to the Collocated Virtual Holonomic Constraints in the Underactuated Mechanical Systems.
AETA 2017 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application. Cham: Springer International Publishing AG, 2018 - (Duy, V.; Dao, T.; Zelinka, I.; Kim, S.; Phuong, T.), s. 554-568. Lecture Notes in Electrical Engineering, 465. ISBN 978-3-319-69813-7
R&D Projects: GA ČR(CZ) GA17-04682S
Institutional support: RVO:67985556
Keywords : Hamiltonian approach * Collocated virtual holonomic constraints * Underactuated systems
OECD category: Automation and control systems
https://link.springer.com/chapter/10.1007/978-3-319-69814-4_53?no-access=true

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.
Permanent Link: http://hdl.handle.net/11104/0278725