When Is a Lagrangian Control System with Virtual Holonomic Constraints Lagrangian?
نویسندگان
چکیده
This paper investigates a class of Lagrangian control systems with n degrees-offreedom (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.
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