On the Lagrangian structure of reduced dynamics under virtual holonomic constraints

DOI10.1051/COCV/2016020zbMATH Open1407.70036arXiv1705.04428OpenAlexW2343344619MaRDI QIDQ5269838FDOQ5269838

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)

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.

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

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zbMATH Keywords

underactuated mechanical systemsvirtual holonomic constraintsinverse Lagrangian problem

Mathematics Subject Classification ID

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

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