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.
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