In this paper, we consider the problem of imposing Virtual Holonomic Constraints to mechanical systems in Euler-Lagrangian form under sampling. An exact solution based on multi-rate sampling of order two over each input channel is described. The results are applied to orbital stabilization of the pendubot with illustrative simulations.
Virtual Holonomic Constraints for Euler-Lagrange systems under sampling / Elobaid, M.; Mattioni, M.; Monaco, S.; Normand-Cyrot, D.. - (2022), pp. 693-698. (Intervento presentato al convegno 2022 European Control Conference, ECC 2022 tenutosi a London; United Kingdom) [10.23919/ECC55457.2022.9838057].
Virtual Holonomic Constraints for Euler-Lagrange systems under sampling
Elobaid M.;Mattioni M.
;Monaco S.;
2022
Abstract
In this paper, we consider the problem of imposing Virtual Holonomic Constraints to mechanical systems in Euler-Lagrangian form under sampling. An exact solution based on multi-rate sampling of order two over each input channel is described. The results are applied to orbital stabilization of the pendubot with illustrative simulations.| File | Dimensione | Formato | |
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