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.
2022, 2022 European Control Conference, ECC 2022, Pages 693-698
Virtual Holonomic Constraints for Euler-Lagrange systems under sampling (04b Atto di convegno in volume)
Elobaid M., Mattioni M., Monaco S., Normand-Cyrot D.
Gruppo di ricerca: Nonlinear Systems and Control