• DocumentCode
    3693084
  • Title

    Synthesis of virtual holonomic constraints with stable constraint dynamics

  • Author

    Luca Consolini;Alessandro Costalunga

  • Author_Institution
    Dipartimento di Ingegneria dell´Informazione, Parco Area delle Scienze 181/a, 43124 Parma, Italy
  • fYear
    2015
  • fDate
    7/1/2015 12:00:00 AM
  • Firstpage
    175
  • Lastpage
    180
  • Abstract
    A virtual holonomic constraint (VHC) is a relation among the generalized coordinates of a mechanical system that can be made invariant via feedback control. The autonomous dynamics of the system resulting on the enforcement of the VHC are called the constraint dynamics. This work presents a method for the synthesis of VHCs that guarantees the existence of an asymptotically stable limit cycle on the constraint dynamics.
  • Keywords
    "Limit-cycles","Manifolds","Actuators","Mathematical model","Mechanical systems","Feedback control"
  • Publisher
    ieee
  • Conference_Titel
    Control Conference (ECC), 2015 European
  • Type

    conf

  • DOI
    10.1109/ECC.2015.7330542
  • Filename
    7330542
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3693084