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Communication Dans Un Congrès Année : 2022

Virtual Holonomic Constraints for Euler-Lagrange systems under sampling

Résumé

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.
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hal-04228032 , version 1 (04-10-2023)

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Mohamed Elobaid, Mattia Mattioni, Salvatore Monaco, Dorothée Normand-Cyrot. Virtual Holonomic Constraints for Euler-Lagrange systems under sampling. ECC 2022 - 20th European Control Conference, Jul 2022, London, United Kingdom. pp.693-698, ⟨10.23919/ECC55457.2022.9838057⟩. ⟨hal-04228032⟩
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