Control of contact problem in constrained Euler-Lagrange systems

DOI10.1109/9.956055MaRDI QIDQ4540217zbMATH OpenOpenAlexFDO

Authors Prabhakar R. Pagilla

Publication date 21 July 2002

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

Full work available at URL https://doi.org/10.1109/9.956055

zbMATH Keywords

Euler-Lagrange systemsnonsmooth Lyapunov functionsstabilization

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

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Cited in

(10)

• Tracking control of uncertain Euler-Lagrange systems with finite-time convergence
• Contact problem and controllability for singular systems in biomedical robotics
• Trajectory tracking for a particle in elliptical billiards
• The bringing of two rigid bodies into collision-free contact by bounded controls in a finite time
• A dynamic-compensation approach to impedance control of robot manipulators
• Trajectory tracking of a bouncing ball in a triangular billiard by unfolding and folding the billiard table
• TRACKING CONTROL OF COMPLEMENTARITY LAGRANGIAN SYSTEMS
• Hybrid Systems: Computation and Control
• Contact Lagrangian systems subject to impulsive constraints
• Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment

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