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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.

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.
ISBN: 978-3-9071-4407-7
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