Control of (otherwise) uncontrollable linear mechanical systems through non-smooth impacts

DOI10.1016/S0167-6911(03)00101-4MaRDI QIDQ2503514zbMATH OpenFDO

Authors Laura Menini, Antonio Tornambé

Publication date 21 September 2006

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

zbMATH Keywords

Complementarity mechanical systemsDead-beat regulationHybrid dynamical systemsNon-smooth impactsUnder actuated linear mechanical systems

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Fast projection methods for minimal design problems in linear system theory
• Global output tracking of polynomial reference signals for a class of single-input single-output nonlinear systems
• Impact controllability of an air hockey puck
• Nonsmooth impact mechanics. Models, dynamics and control
• On the control of a one degree-of-freedom juggling robot
• On the control of complementary-slackness juggling mechanical systems
• Optimal sampled-data control systems

Cited in

(14)

• Dead-beat regulation of mechanical juggling systems
• Asymptotic tracking of periodic trajectories for a simple mechanical system subject to nonsmooth impacts
• Impulsive control of a class of vibro-impact systems
• scientific article; zbMATH DE number 2114906 (Why is no real title available?)
• Controllable systems with impacts
• Impact controllability of an air hockey puck
• Discontinuous solutions in the optimal control problems and their representation by singular space-time transformations
• On the controllability of linear juggling mechanical systems
• On the design of a position feedback control law for a simple mechanical system subject to impacts
• Passivity-based control for hybrid systems with applications to mechanical systems exhibiting impacts
• Control of a series of carts in the case of nonsmooth unilateral impacts
• Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances
• State estimation of (otherwise unobservable) linear mechanical systems through the use of non-smooth impacts: the case of two mating gears
• Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial

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