Virtual Holonomic Constraints Control for port-Hamiltonian Systems: A Case Study of Fully Actuated Mechanical Systems

Authors

Yuki Okura, Kenji Fujimoto, Chiaki Kojima

Abstract

In this paper, virtual holonomic constraints control of port-Hamiltonian systems is proposed. In this research we especially focus on controller design for fully actuated mechanical systems as a case study. A virtual holonomic constraint force is calculated as a nonlinear feedback input by introducing the coordinate transformation. When some assumptions hold, this feedback successfully converts the original mechanical system into the reduced order port-Hamiltonian system with desired holonomic constraints. A numerical example shows the effectiveness and the property of the proposed virtual holonominc control.

Keywords

nonlinear control; port-Hamiltonian systems; tracking control; mechanical systems

Citation

• Journal: IFAC-PapersOnLine
• Year: 2020
• Volume: 53
• Issue: 2
• Pages: 5598–5603
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2020.12.1573
• Note: 21st IFAC World Congress- Berlin, Germany, 11–17 July 2020

BibTeX

@article{Okura_2020,
  title={{Virtual Holonomic Constraints Control for port-Hamiltonian Systems: A Case Study of Fully Actuated Mechanical Systems}},
  volume={53},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2020.12.1573},
  number={2},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Okura, Yuki and Fujimoto, Kenji and Kojima, Chiaki},
  year={2020},
  pages={5598--5603}
}

Download the bib file

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