10 citations · 55 across the 19 of their papers we have counts for
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A coordinate-free theory of virtual holonomic constraints
Luca Consolini, Alessandro Costalunga, Manfredi Maggiore
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 vir…
On the Lagrangian Structure of Reduced Dynamics Under Virtual Holonomic Constraints
Alireza Mohammadi, Manfredi Maggiore, Luca Consolini
This paper investigates a class of Lagrangian control systems with degrees-of-freedom (DOF) and n-1 actuators, assuming that virtual holonomic constraints have been enfor…
Dynamic Virtual Holonomic Constraints for Stabilization of Closed Orbits in Underactuated Mechanical Systems
Alireza Mohammadi, Manfredi Maggiore, Luca Consolini
This article investigates the problem of enforcing a virtual holonomic constraint (VHC) on a mechanical system with degree of underactuation one while simultaneously stabilizing a…