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• W2022948723 abstract "This paper investigates a class of Lagrangian control systems with η degrees-of-freedom (DOF) and η — 1 actuators, assuming that η — 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." @default.
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• W2022948723 date "2013-01-01" @default.
• W2022948723 modified "2023-09-25" @default.
• W2022948723 title "When is a Lagrangian Control System With Virtual Holonomic Constraints Lagrangian?" @default.
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• W2022948723 doi "https://doi.org/10.3182/20130904-3-fr-2041.00073" @default.
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