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AETA 2017 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application
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SYSNO ASEP 0483394 Document Type M - Monograph Chapter R&D Document Type Monograph Chapter Title On 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, ORCIDNumber of authors 2 Source Title AETA 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 Pages s. 554-568 Number of pages 15 s. Number of pages 1092 Publication form Print - P Language eng - English Country CH - Switzerland Keywords Hamiltonian approach ; Collocated virtual holonomic constraints ; Underactuated systems Subject RIV BC - Control Systems Theory OECD category Automation and control systems R&D Projects GA17-04682S GA ČR - Czech Science Foundation (CSF) Institutional support UTIA-B - RVO:67985556 EID SCOPUS 85034611736 DOI 10.1007/978-3-319-69814-4 Annotation 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. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Year of Publishing 2019
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