On the control of finite-dimensional mechanical systems with unilateral constraints

DOI10.1109/9.554400zbMATH Open0872.70019OpenAlexW2156344546MaRDI QIDQ4336340FDOQ4336340

Silviu-Iulian Niculescu, B. Brogliato, P. Orhant

Publication date: 23 October 1997

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.554400

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zbMATH Keywords

stabilityimpact rulesmooth dynamicsclosed-loop control problemalgebraic inequality conditionswitching control strategies

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05) Stabilization of systems by feedback (93D15)

Cited In (47)

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• Impact control of a single-link robot striking different environments: theoretical and experimental investigation
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• Global controllability of some mechanical systems with absolutely elastic impacts
• Global asymptotic stabilization of the attitude and the angular rates of an underactuated non-symmetric rigid body
• Finite time stabilization of a perturbed double integrator with unilateral constraints
• Dynamical Systems Coupled with Monotone Set-Valued Operators: Formalisms, Applications, Well-Posedness, and Stability
• Velocity observers for linear mechanical systems subject to single non-smooth impacts
• Control of contact problem in constrained Euler-Lagrange systems
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• State estimation for the Newton's cradle: A mechanism that is unobservable in the absence of impacts
• Force measurement time-delays and contact instability phenomenon
• Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial
• Analysis of Proportional-Derivative and Nonlinear Control of Mechanical Systems with Dynamic Backlash
• Velocity observers for nonlinear mechanical systems subject to nonsmooth impacts
• Asymptotic tracking of periodic trajectories for a simple mechanical system subject to nonsmooth impacts
• Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment
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• Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction
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• Stability properties of equilibrium sets of nonlinear mechanical systems with dry friction and impact
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• State estimation of (otherwise unobservable) linear mechanical systems through the use of non-smooth impacts: the case of two mating gears
• On tracking control of a class of complementary-slackness hybrid mechanical systems
• Exact differentiation and sliding mode observers for switched Lagrangian systems
• $${{\mathcal H}}_{\infty }$$ H ∞ - Stabilization of a 3D Bipedal Locomotion Under a Unilateral Constraint
• Modeling, stability and control of biped robots --- a general framework
• Synchronization of impacting mechanical systems with a single constraint

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