On the Lagrangian structure of reduced dynamics under virtual holonomic constraints

DOI10.1051/cocv/2016020zbMath1407.70036arXiv1705.04428OpenAlexW2343344619MaRDI QIDQ5269838

Alireza Mohammadi, Luca Consolini, Manfredi Maggiore

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

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

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