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

DOI10.1016/S0167-6911(03)00101-4zbMATH Open1157.93390MaRDI QIDQ2503514FDOQ2503514

Laura Menini, Antonio Tornambé

Publication date: 21 September 2006

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

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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)

Cites Work

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

Cited In (12)

• Title not available (Why is that?)
• On the design of a position feedback control law for a simple mechanical system subject to impacts
• Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial
• Impulsive control of a class of vibro-impact systems
• Asymptotic tracking of periodic trajectories for a simple mechanical system subject to nonsmooth 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
• Discontinuous solutions in the optimal control problems and their representation by singular space-time transformations
• Passivity-based control for hybrid systems with applications to mechanical systems exhibiting impacts
• State estimation of (otherwise unobservable) linear mechanical systems through the use of non-smooth impacts: the case of two mating gears
• Impact controllability of an air hockey puck
• Dead‐beat regulation of mechanical juggling systems

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