On the control of complementary-slackness juggling mechanical systems

DOI10.1109/9.839946zbMath0982.70018OpenAlexW2111281667MaRDI QIDQ4507043

Bernard Brogliato, Arturo Zavala-Rio

Publication date: 17 October 2000

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.839946

zbMATH Keywords

stabilizabilitycomplementary-slackness hybrid systemsdead-beat feedback control lawimpact Poincaré mappingone-degree-of-freedom juggler control design

Mathematics Subject Classification ID

Feedback control (93B52) Stabilization of systems by feedback (93D15) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (21)

Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial ⋮ Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances ⋮ Dead‐beat regulation of mechanical juggling systems ⋮ Non-prehensile manipulation of a devil-stick: planar symmetric juggling using impulsive forces ⋮ Discontinuous solutions in the optimal control problems and their representation by singular space-time transformations ⋮ Trajectory tracking for a particle in elliptical billiards ⋮ Passivity-based control for hybrid systems with applications to mechanical systems exhibiting impacts ⋮ Generalized solutions in systems with active unilateral constraints ⋮ On tracking control of a class of complementary-slackness hybrid mechanical systems ⋮ Dynamical systems with active singularities: input/state/output modeling and control ⋮ Control of a series of carts in the case of nonsmooth unilateral impacts ⋮ Hybrid modelling and constrained control of juggling systems ⋮ Direct adaptive control design for one-degree-of-freedom complementary-slackness jugglers ⋮ Modeling, stability and control of biped robots --- a general framework ⋮ The Krakovskii-LaSalle invariance principle for a class of unilateral dynamical systems ⋮ Optimal control problems in hybrid systems with active singularities ⋮ Control of nonlinear systems on Poincaré section via quasi-sliding mode method ⋮ Control of (otherwise) uncontrollable linear mechanical systems through non-smooth impacts ⋮ On the controllability of linear juggling mechanical systems ⋮ The complementarity class of hybrid dynamical systems ⋮ Nonlinear dynamics and control of an inertially actuated jumper robot

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