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 feedback control. We design a constraint which emulates gymnastics giant motion in an acrobot, and prove that this constraint can inject or dissipate energy based on the sign of a design parameter. The proposed constraint is tested both in simulation and experimentally on a real-world acrobot, demonstrating highly effective energy regulation properties and robustness to a variety of disturbances.

翻译：本文研究虚拟非完整约束——一种可通过反馈控制实现的机械系统广义坐标与动量间的关系。我们设计了一种能在Acrobot中模拟体操大回环运动的约束，并证明该约束可根据设计参数的符号实现能量注入或耗散。所提出的约束在仿真和真实Acrobot实验中均得到验证，展现出高效的能量调节特性及对多种干扰的鲁棒性。