On the controllability of linear juggling mechanical systems

DOI10.1016/j.sysconle.2005.08.012zbMath1129.93319OpenAlexW1968430016MaRDI QIDQ2504671

Bernard Brogliato, Mongi Mabrouk, Arturo Zavala-Rio

Publication date: 25 September 2006

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

Full work available at URL: https://hal.inria.fr/inria-00071814/file/RR-4772.pdf

zbMATH Keywords

accessibilitycontrollabilityunilateral constraintscomplementarity problemsimpactsnonsmooth mechanics

Mathematics Subject Classification ID

Controllability (93B05) Complementarity and equilibrium problems and variational inequalities (finite dimensions) (aspects of mathematical programming) (90C33) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (8)

Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial ⋮ Dead‐beat regulation of mechanical juggling systems ⋮ Non-prehensile manipulation of a devil-stick: planar symmetric juggling using impulsive forces ⋮ Control of nonlinear systems on Poincaré section via quasi-sliding mode method ⋮ The complementarity class of hybrid dynamical systems ⋮ Orbital Control for a Class of Planar Impulsive Hybrid Systems with Controllable Resets ⋮ Nonlinear dynamics and control of an inertially actuated jumper robot ⋮ Dynamical Systems Coupled with Monotone Set-Valued Operators: Formalisms, Applications, Well-Posedness, and Stability

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