On tracking control of a class of complementary-slackness hybrid mechanical systems

DOI10.1016/S0167-6911(99)00104-8zbMath0951.93054MaRDI QIDQ1978664

Bernard Brogliato, Manuel D. P. Monteiro Marques, Silviu Iulian Niculescu

Publication date: 4 June 2000

Published in: Systems \& Control Letters (Search for Journal in Brave)

zbMATH Keywords

stabilitymechanical systemsnonsmoothhybridrigid manipulators

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Variable structure systems (93B12)

Related Items (11)

Trajectory tracking of a bouncing ball in a triangular billiard by unfolding and folding the billiard table ⋮ Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances ⋮ An embedding approach for the design of state-feedback tracking controllers for references with jumps ⋮ Discontinuous solutions in the optimal control problems and their representation by singular space-time transformations ⋮ Trajectory tracking for a particle in elliptical billiards ⋮ Generalized solutions in systems with active unilateral constraints ⋮ Modeling, stability and control of biped robots --- a general framework ⋮ Absolute stability and the Lagrange--Dirichlet theorem with monotone multivalued mappings ⋮ The complementarity class of hybrid dynamical systems ⋮ Dynamical Systems Coupled with Monotone Set-Valued Operators: Formalisms, Applications, Well-Posedness, and Stability ⋮ TRACKING CONTROL OF COMPLEMENTARITY LAGRANGIAN SYSTEMS

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