| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 714510 | IFAC Proceedings Volumes | 2013 | 6 Pages |
Abstract
This paper investigates a class of Lagrangian control systems with η degrees-of-freedom (DOF) and η — 1 actuators, assuming that η — 1 virtual holonomic constraints have been enforced via feedback, and a basic regularity condition holds. The reduced dynamics of such systems are described by a second-order unforced differential equation. We present necessary and sufficient conditions under which the reduced dynamics are those of a mechanical system with one DOF and, more generally, under which they have a Lagrangian structure.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
