Matches in SemOpenAlex for { <https://semopenalex.org/work/W2010398082> ?p ?o ?g. }
Showing items 1 to 94 of
94
with 100 items per page.
- W2010398082 endingPage "1008" @default.
- W2010398082 startingPage "1001" @default.
- W2010398082 abstract "This technical brief investigates virtual holonomic constraints for Euler-Lagrange systems with <i xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>n</i> degrees-of-freedom and <i xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>n</i> -1 controls. In our framework, a virtual holonomic constraint is a relation specifying <i xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>n</i> -1 configuration variables in terms of a single angular configuration variable. The enforcement by feedback of such a constraint induces a desired repetitive behavior in the system. We give conditions under which a virtual holonomic constraint is feasible, i.e, it can be made invariant by feedback, and it is stabilizable. We provide sufficient conditions under which the dynamics on the constraint manifold correspond to an Euler- Lagrange system. These ideas are applied to the problem of swinging up an underactuated pendulum while guaranteeing that the second link does not fall over." @default.
- W2010398082 created "2016-06-24" @default.
- W2010398082 creator A5015751405 @default.
- W2010398082 creator A5048869539 @default.
- W2010398082 date "2013-04-01" @default.
- W2010398082 modified "2023-10-04" @default.
- W2010398082 title "Virtual Holonomic Constraints for Euler–Lagrange Systems" @default.
- W2010398082 cites W1504362584 @default.
- W2010398082 cites W1974845375 @default.
- W2010398082 cites W1983235336 @default.
- W2010398082 cites W1991554982 @default.
- W2010398082 cites W2027585176 @default.
- W2010398082 cites W2045992114 @default.
- W2010398082 cites W2049558022 @default.
- W2010398082 cites W2051627946 @default.
- W2010398082 cites W2074006882 @default.
- W2010398082 cites W2079403996 @default.
- W2010398082 cites W2094204752 @default.
- W2010398082 cites W2097384366 @default.
- W2010398082 cites W2098787727 @default.
- W2010398082 cites W2128131727 @default.
- W2010398082 cites W2128766759 @default.
- W2010398082 cites W2132077767 @default.
- W2010398082 cites W2132347660 @default.
- W2010398082 cites W2133582863 @default.
- W2010398082 cites W2149881402 @default.
- W2010398082 cites W2610901891 @default.
- W2010398082 cites W4292872153 @default.
- W2010398082 doi "https://doi.org/10.1109/tac.2012.2215538" @default.
- W2010398082 hasPublicationYear "2013" @default.
- W2010398082 type Work @default.
- W2010398082 sameAs 2010398082 @default.
- W2010398082 citedByCount "99" @default.
- W2010398082 countsByYear W20103980822013 @default.
- W2010398082 countsByYear W20103980822014 @default.
- W2010398082 countsByYear W20103980822015 @default.
- W2010398082 countsByYear W20103980822016 @default.
- W2010398082 countsByYear W20103980822017 @default.
- W2010398082 countsByYear W20103980822018 @default.
- W2010398082 countsByYear W20103980822019 @default.
- W2010398082 countsByYear W20103980822020 @default.
- W2010398082 countsByYear W20103980822021 @default.
- W2010398082 countsByYear W20103980822022 @default.
- W2010398082 countsByYear W20103980822023 @default.
- W2010398082 crossrefType "journal-article" @default.
- W2010398082 hasAuthorship W2010398082A5015751405 @default.
- W2010398082 hasAuthorship W2010398082A5048869539 @default.
- W2010398082 hasConcept C116721078 @default.
- W2010398082 hasConcept C121332964 @default.
- W2010398082 hasConcept C154945302 @default.
- W2010398082 hasConcept C190470478 @default.
- W2010398082 hasConcept C2524010 @default.
- W2010398082 hasConcept C2775924081 @default.
- W2010398082 hasConcept C2776036281 @default.
- W2010398082 hasConcept C2777964439 @default.
- W2010398082 hasConcept C33923547 @default.
- W2010398082 hasConcept C37914503 @default.
- W2010398082 hasConcept C41008148 @default.
- W2010398082 hasConcept C47446073 @default.
- W2010398082 hasConcept C74650414 @default.
- W2010398082 hasConceptScore W2010398082C116721078 @default.
- W2010398082 hasConceptScore W2010398082C121332964 @default.
- W2010398082 hasConceptScore W2010398082C154945302 @default.
- W2010398082 hasConceptScore W2010398082C190470478 @default.
- W2010398082 hasConceptScore W2010398082C2524010 @default.
- W2010398082 hasConceptScore W2010398082C2775924081 @default.
- W2010398082 hasConceptScore W2010398082C2776036281 @default.
- W2010398082 hasConceptScore W2010398082C2777964439 @default.
- W2010398082 hasConceptScore W2010398082C33923547 @default.
- W2010398082 hasConceptScore W2010398082C37914503 @default.
- W2010398082 hasConceptScore W2010398082C41008148 @default.
- W2010398082 hasConceptScore W2010398082C47446073 @default.
- W2010398082 hasConceptScore W2010398082C74650414 @default.
- W2010398082 hasIssue "4" @default.
- W2010398082 hasLocation W20103980821 @default.
- W2010398082 hasOpenAccess W2010398082 @default.
- W2010398082 hasPrimaryLocation W20103980821 @default.
- W2010398082 hasRelatedWork W1557183953 @default.
- W2010398082 hasRelatedWork W1558223991 @default.
- W2010398082 hasRelatedWork W1593123930 @default.
- W2010398082 hasRelatedWork W1622656183 @default.
- W2010398082 hasRelatedWork W2007583701 @default.
- W2010398082 hasRelatedWork W2113830208 @default.
- W2010398082 hasRelatedWork W2363850121 @default.
- W2010398082 hasRelatedWork W2717412651 @default.
- W2010398082 hasRelatedWork W45593259 @default.
- W2010398082 hasRelatedWork W2487589686 @default.
- W2010398082 hasVolume "58" @default.
- W2010398082 isParatext "false" @default.
- W2010398082 isRetracted "false" @default.
- W2010398082 magId "2010398082" @default.
- W2010398082 workType "article" @default.