文章基本信息

标题：Virtual Holonomic Constraints Control for port-Hamiltonian Systems: A Case Study of Fully Actuated Mechanical Systems
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作者：Yuki Okura ; Kenji Fujimoto ; Chiaki Kojima 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：5598-5603
DOI：10.1016/j.ifacol.2020.12.1573
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, virtual holonomic constraints control of port-Hamiltonian systems is proposed. In this research we especially focus on controller design for fully actuated mechanical systems as a case study. A virtual holonomic constraint force is calculated as a nonlinear feedback input by introducing the coordinate transformation. When some assumptions hold, this feedback successfully converts the original mechanical system into the reduced order port-Hamiltonian system with desired holonomic constraints. A numerical example shows the effectiveness and the property of the proposed virtual holonominc control.
关键词：Keywordsnonlinear controlport-Hamiltonian systemstracking controlmechanical systems