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.
| Origine | Fichiers produits par l'(les) auteur(s) |
|---|