Holonomic constraints: an analytical result
نویسندگان
چکیده
منابع مشابه
Holonomic Constraints : an Analytical Result
Systems subjected to holonomic constraints follow quite complicated dynamics that could not be described easily with Hamiltonian or Lagrangian dynamics. The influence of holonomic constraints in equations of motions is taken into account by using Lagrange multipliers. Finding the value of the Lagrange multipliers allows to compute the forces induced by the constraints and therefore, to integrat...
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This paper continues recent work by the authors on virtual holonomic constraints (VHCs) for Euler-Lagrange control systems with n degrees-of-freedom and m control inputs. The focus of the paper is on implicit constraints of the form h(q) = 0. Under suitable regularity conditions, the enforcement of k ≤ m constraints induces constrained dynamics that are described by a reduced-order control syst...
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ژورنال
عنوان ژورنال: Journal of Physics A: Mathematical and Theoretical
سال: 2007
ISSN: 1751-8113,1751-8121
DOI: 10.1088/1751-8113/40/8/004