On the control of complementary-slackness juggling mechanical systems

DOI10.1109/9.839946MaRDI QIDQ4507043zbMATH OpenOpenAlexFDO

Authors B. Brogliato, A. Zavala-Río

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

complementary-slackness hybrid systemsdead-beat feedback control lawimpact Poincaré mappingone-degree-of-freedom juggler control designstabilizability

Mathematics Subject Classification ID

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

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(26)

• On the control of a one degree-of-freedom juggling robot
• Global asymptotic stability of a passive juggling strategy: A possible parts-feeding method
• Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial
• The Krakovskii-LaSalle invariance principle for a class of unilateral dynamical systems
• On tracking control of a class of complementary-slackness hybrid mechanical systems
• Nonlinear dynamics and control of an inertially actuated jumper robot
• Discontinuous solutions in the optimal control problems and their representation by singular space-time transformations
• Generalized solutions in systems with active unilateral constraints
• Control of a series of carts in the case of nonsmooth unilateral impacts
• Optimal control problems in hybrid systems with active singularities
• 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
• Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances
• Trajectory tracking for a particle in elliptical billiards
• Dead-beat regulation of mechanical juggling systems
• scientific article; zbMATH DE number 2114906 (Why is no real title available?)
• Passivity-based control for hybrid systems with applications to mechanical systems exhibiting impacts
• Hybrid modelling and constrained control of juggling systems
• TRACKING CONTROL OF COMPLEMENTARITY LAGRANGIAN SYSTEMS
• Direct adaptive control design for one-degree-of-freedom complementary-slackness jugglers
• Non-prehensile manipulation of a devil-stick: planar symmetric juggling using impulsive forces
• Maneuvering a stick in three-dimensional space using impulsive forces
• Modeling, stability and control of biped robots --- a general framework
• Control of nonlinear systems on Poincaré section via quasi-sliding mode method
• Dynamical systems with active singularities: input/state/output modeling and control

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