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

  1. 1.
    SYSNO ASEP0483394
    Document TypeM - Monograph Chapter
    R&D Document TypeMonograph Chapter
    TitleOn the Hamiltonian Approach to the Collocated Virtual Holonomic Constraints in the Underactuated Mechanical Systems
    Author(s) Čelikovský, Sergej (UTIA-B) RID, ORCID
    Anderle, Milan (UTIA-B) RID, ORCID
    Number of authors2
    Source TitleAETA 2017 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application. - Cham : Springer International Publishing AG, 2018 / Duy Vo Hoang ; Dao Tran Trong ; Zelinka Ivan ; Kim Sang Bong ; Phuong Tran Thanh - ISSN 1876-1100 - ISBN 978-3-319-69813-7
    Pagess. 554-568
    Number of pages15 s.
    Number of pages1092
    Publication formPrint - P
    Languageeng - English
    CountryCH - Switzerland
    KeywordsHamiltonian approach ; Collocated virtual holonomic constraints ; Underactuated systems
    Subject RIVBC - Control Systems Theory
    OECD categoryAutomation and control systems
    R&D ProjectsGA17-04682S GA ČR - Czech Science Foundation (CSF)
    Institutional supportUTIA-B - RVO:67985556
    EID SCOPUS85034611736
    DOI10.1007/978-3-319-69814-4
    AnnotationIn 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.
    WorkplaceInstitute of Information Theory and Automation
    ContactMarkéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201.
    Year of Publishing2019
Number of the records: 1  

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