On tracking control of a class of complementary-slackness hybrid mechanical systems
We consider the problem of feedback control of \(n\)-dof (degree-of-freedom) rigid manipulators subject to a scalar frictionless unilateral constraint \(f(X)\geq 0\) \((X\in \mathbb{R}^{n}\) is the vector of generalized coordinates). The stability analysis relies on a stability concept that incorporates the hybrid and nonsmooth dynamical feature of the overall system. It is shown that stability of the closed-loop system can be obtained. This work generalizes the results in [\textit{B. Brogliato, S.-I. Niculescu} and \textit{P.Orhant}, IEEE Trans. Autom. Control 42, No. 2, 200-215 (1997; Zbl 0872.70019)] which were mainly restricted to the 1-dof case. It also clarifies some concepts related to the hybrid nature of closed-loop complementary-slackness mechanical systems.
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