Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances
From MaRDI portal
Publication:333486
DOI10.1007/s11044-016-9523-xzbMath1351.70001MaRDI QIDQ333486
Vincent Acary, Bernard Brogliato, Narendra Akhadkar
Publication date: 31 October 2016
Published in: Multibody System Dynamics (Search for Journal in Brave)
Full work available at URL: https://hal.inria.fr/hal-01218531/file/Akhadkar_etal.pdf
unilateral constraints; passivity-based control; feedback control; impacts; Coulomb's friction; clearance; dynamic backlash; four-bar mechanism; Moreau-Jean time-stepping scheme; state feedback linearization
93B52: Feedback control
70Q05: Control of mechanical systems
70B15: Kinematics of mechanisms and robots
Related Items
Multibody systems with 3D revolute joints with clearances: an industrial case study with an experimental validation, Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial, A unified formulation for mechanical joints with and without clearances/bushings and/or stops in the framework of multibody systems, Effects of passive vibration absorbers on the mechanisms having clearance joints
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