A coordinate-free theory of virtual holonomic constraints

DOI10.3934/JGM.2018018zbMATH Open1428.53022arXiv1709.07726OpenAlexW2756767958WikidataQ128930569 ScholiaQ128930569MaRDI QIDQ1734873FDOQ1734873

Authors: Luca Consolini, Alessandro Costalunga, Manfredi Maggiore 

Publication date: 27 March 2019

Published in: Journal of Geometric Mechanics (Search for Journal in Brave)

Abstract: This paper presents a coordinate-free formulation of virtual holonomic constraints for underactuated Lagrangian control systems on Riemannian manifolds. It is shown that when a virtual constraint enjoys a regularity property, the constrained dynamics are described by an affine connection dynamical system. The affine connection of the constrained system has an elegant relationship to the Riemannian connection of the original Lagrangian control system. Necessary and sufficient conditions are given for the constrained dynamics to be Lagrangian. A key condition is that the affine connection of the constrained dynamics be metrizable. Basic results on metrizability of affine connections are first reviewed, then employed in three examples in order of increasing complexity. The last example is a double pendulum on a cart with two different actuator configurations. For this control system, a virtual constraint is employed which confines the second pendulum to within the upper half-plane.

Full work available at URL: https://arxiv.org/abs/1709.07726

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zbMATH Keywords

geometric mechanicsvirtual holonomic constraintsmechanical control systemsinverse Lagrangian problem

Mathematics Subject Classification ID

Dynamical aspects of finite-dimensional Hamiltonian and Lagrangian systems (37J99) Linear and affine connections (53B05) Applications of local differential geometry to the sciences (53B50) Nonlinear systems in control theory (93C10)

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Cited In (8)

• Virtual affine nonholonomic constraints
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• Virtual constraint generators for motion control of robots with degree of underactuation one
• Periodic motion planning for virtually constrained Euler--Lagrange systems
• Synthesis of virtual holonomic constraints for obtaining stable constraint dynamics
• Characterization of Levi-Civita and Newton-Cartan connections in dimension 2
• On the Lagrangian structure of reduced dynamics under virtual holonomic constraints

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