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Bibliography

Monography Chapter

On the Hamiltonian Approach to the Collocated Virtual Holonomic Constraints in the Underactuated Mechanical Systems

Čelikovský Sergej, Anderle Milan

: AETA 2017 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application, p. 554-568 , Eds: Duy Vo Hoang, Dao Tran Trong, Zelinka Ivan, Kim Sang Bong, Phuong Tran Thanh

: GA17-04682S, GA ČR

: Hamiltonian approach, Collocated virtual holonomic constraints, Underactuated systems

: 10.1007/978-3-319-69814-4

: https://link.springer.com/chapter/10.1007/978-3-319-69814-4_53?no-access=true

(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.

: BC

: 20205