A virtual holonomic constraint is a relation among the coordinates of a mechanical system that can be made invariant via feedback control. This paper frames virtual holonomic constraints in an affine geometry setting, describing the dynamics on the constraint as the geodesics of a connection (the induced connection) derived from the Levi-Civita connection of the mechanical system. It also presents conditions for the constraint dynamics to be Lagrangian, based on the metrizability properties of the induced connection.
Induced connections on virtual holonomic constraints / Consolini, Luca; Costalunga, Alessandro. - ELETTRONICO. - 2016-:(2015), pp. 139-144. (Intervento presentato al convegno 54th IEEE Conference on Decision and Control, CDC 2015 tenutosi a Osaka International Convention Center (Grand Cube), 5-3-51 Nakanoshima, Kita-Ku, jpn nel 2015) [10.1109/CDC.2015.7402099].
Induced connections on virtual holonomic constraints
CONSOLINI, Luca;COSTALUNGA, Alessandro
2015-01-01
Abstract
A virtual holonomic constraint is a relation among the coordinates of a mechanical system that can be made invariant via feedback control. This paper frames virtual holonomic constraints in an affine geometry setting, describing the dynamics on the constraint as the geodesics of a connection (the induced connection) derived from the Levi-Civita connection of the mechanical system. It also presents conditions for the constraint dynamics to be Lagrangian, based on the metrizability properties of the induced connection.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
