9 citations · 16 across the 6 of their papers we have counts for
11 papers
From gymnastics to virtual nonholonomic constraints: energy injection, dissipation, and regulation for the acrobot
Adan Moran-MacDonald, Manfredi Maggiore, Xingbo Wang
In this article we study virtual nonholonomic constraints, which are relations between the generalized coordinates and momenta of a mechanical system that can be enforced via feedb…
Reduction Theorems for Hybrid Dynamical Systems
Manfredi Maggiore, Mario Sassano, Luca Zaccarian
This paper presents reduction theorems for stability, attractivity, and asymptotic stability of compact subsets of the state space of a hybrid dynamical system. Given two closed se…
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…
A Smooth Distributed Feedback for Global Rendezvous of Unicycles
Ashton Roza, Manfredi Maggiore, Luca Scardovi
This paper presents a solution to the rendezvous control problem for a network of kinematic unicycles in the plane, each equipped with an onboard camera measuring its relative disp…