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• W2767357986 abstract "In this paper, the collocated virtual holonomic constraints for the underactuated mechanical system are represented in a special canonical form using its Hamiltonian description. This form is used to provide an alternative, backstepping based, algorithm how to impose these constraints. Its robustness is illustrated by simulated swinging up the mechanical four link chain with precisely unknown masses of its links." @default.
• W2767357986 created "2017-11-17" @default.
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• W2767357986 date "2017-11-11" @default.
• W2767357986 modified "2023-10-16" @default.
• W2767357986 title "On the Hamiltonian Approach to the Collocated Virtual Holonomic Constraints in the Underactuated Mechanical Systems" @default.
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• W2767357986 doi "https://doi.org/10.1007/978-3-319-69814-4_53" @default.
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