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2017

A coordinate-free theory of virtual holonomic constraints

Consolini, Luca, Costalunga, Alessandro, Maggiore, Manfredi

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This paper presents a coordinate-free formulation of virtual holonomic constraints for underactuated Lagrangian control systems on Riemannian manifolds.

It is shown that when a virtual constraint enjoys a regularity property, the constrained dynamics are described by an affine connection dynamical system.
The affine connection of the constrained system has an elegant relationship to the Riemannian connection of the original Lagrangian control system.
Necessary and sufficient conditions are given for the constrained dynamics to be Lagrangian.

A coordinate-free theory of virtual holonomic constraints · Around

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1911
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1922
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