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oaioai:iris.uniroma1.it:11573/1652700

Virtual Holonomic Constraints for Euler-Lagrange systems under sampling

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Publication date
1 January 2022
Publisher
Institute of Electrical and Electronics Engineers Inc.
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    Abstract

    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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    Archivio della ricerca- Università di Roma La Sapienza

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    Last time updated on 20/05/2023

    This paper was published in Archivio della ricerca- Università di Roma La Sapienza.

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