TRACKING CONTROL OF COMPLEMENTARITY LAGRANGIAN SYSTEMS

DOI10.1142/S0218127405013010zbMath1092.93582OpenAlexW2072004108MaRDI QIDQ5474267

Jean-Matthieu Bourgeot, Bernard Brogliato

Publication date: 23 June 2006

Published in: International Journal of Bifurcation and Chaos (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1142/s0218127405013010

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Control of mechanical systems (70Q05) Robust stability (93D09) Lagrange's equations (70H03)

Related Items (10)

Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial ⋮ Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances ⋮ An embedding approach for the design of state-feedback tracking controllers for references with jumps ⋮ Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment ⋮ UNIFORM CONVERGENCE OF MONOTONE MEASURE DIFFERENTIAL INCLUSIONS: WITH APPLICATION TO THE CONTROL OF MECHANICAL SYSTEMS WITH UNILATERAL CONSTRAINTS ⋮ Trajectory tracking for a particle in elliptical billiards ⋮ Finite time stabilization of a perturbed double integrator with unilateral constraints ⋮ Passivity-based switching control of flexible-joint complementarity mechanical systems ⋮ Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems ⋮ Dynamical Systems Coupled with Monotone Set-Valued Operators: Formalisms, Applications, Well-Posedness, and Stability

Cites Work

• A unified variational model for the dynamics of perfect unilateral constraints
• The dynamics of discrete mechanical systems with perfect unilateral constraints
• Uniqueness and continuous dependence on data for one-dimensional impact problems.
• On tracking control of a class of complementary-slackness hybrid mechanical systems
• Absolute stability and the Lagrange--Dirichlet theorem with monotone multivalued mappings
• The complementarity class of hybrid dynamical systems
• Feedback stabilization and tracking of constrained robots
• Globally asymptotically stable ‘PD+’ controller for robot manipulators
• Adaptive manipulator control: A case study
• Comments on "Adaptive manipulator control: a case study" by J. Slotine and W. Li
• Formulation and well-posedness of the dynamics of rigid-body systems with perfect unilateral constraints
• On the control of finite-dimensional mechanical systems with unilateral constraints
• Some perspectives on the analysis and control of complementarity systems

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