On the Lagrangian structure of reduced dynamics under virtual holonomic constraints

DOI10.1051/COCV/2016020MaRDI QIDQ5269838zbMATH OpenOpenAlexFDO

Authors Alireza Mohammadi, Manfredi Maggiore, Luca Consolini

Publication date 28 June 2017

Published in ESAIM: Control, Optimisation and Calculus of Variations (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1705.04428

zbMATH Keywords

underactuated mechanical systemsvirtual holonomic constraintsinverse Lagrangian problem

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10)

Abstract: This paper investigates a class of Lagrangian control systems with $n$ degrees-of-freedom (DOF) and n-1 actuators, assuming that $n-1$ virtual holonomic constraints have been enforced via feedback, and a basic regularity condition holds. The reduced dynamics of such systems are described by a second-order unforced differential equation. We present necessary and sufficient conditions under which the reduced dynamics are those of a mechanical system with one DOF and, more generally, under which they have a Lagrangian structure. In both cases, we show that typical solutions satisfying the virtual constraints lie in a restricted class which we completely characterize.

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