Virtual Holonomic Constraints and the Synchronization of Euler-Lagrange Control Systems
A virtual holonomic constraint (VHC) for an Euler-Lagrange Control System is a smooth relation between the configuration variables that can be made invariant through application of suitable feedback. In this thesis we investigate the role played by VHCs in the synchronization of Euler-Lagrange syste...
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| Language: | en_ca |
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2012
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| Online Access: | http://hdl.handle.net/1807/33253 |