On the Hamiltonian Approach to the Collocated Virtual Holonomic Constraints in the Underactuated Mechanical Systems

  • Sergej ČelikovskýEmail author
  • Milan Anderle
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 465)


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.


Hamiltonian approach Collocated virtual holonomic constraints Underactuated systems 


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.Institute of Information Theory and Automation of the Czech Academy of SciencesPragueCzech Republic

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