Direct adaptive control design for one-degree-of-freedom complementary-slackness jugglers

DOI10.1016/S0005-1098(01)00061-9zbMath1012.93045WikidataQ127461111 ScholiaQ127461111MaRDI QIDQ5939339

Bernard Brogliato, Arturo Zavala-Rio

Publication date: 16 June 2003

Published in: Automatica (Search for Journal in Brave)

zbMATH Keywords

adaptive controllercomplementary-slacknessdead-beat viable control principlejuggling robotnon-smooth mechanicsrestitution coefficient

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60) Impact in solid mechanics (74M20)

Related Items (8)

Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial ⋮ Non-prehensile manipulation of a devil-stick: planar symmetric juggling using impulsive forces ⋮ Discontinuous solutions in the optimal control problems and their representation by singular space-time transformations ⋮ Hybrid modelling and constrained control of juggling systems ⋮ Modeling, stability and control of biped robots --- a general framework ⋮ On the controllability of linear juggling mechanical systems ⋮ The complementarity class of hybrid dynamical systems ⋮ Velocity observers for nonlinear mechanical systems subject to nonsmooth impacts

Cites Work

• Unnamed Item
• Unnamed Item
• The transition to chaos in a simple mechanical system
• On the control of a one degree-of-freedom juggling robot
• Nonsmooth mechanics. Models, dynamics and control.
• The complementary-slackness class of hybrid systems
• The contact problem for linear continuous-time dynamical systems: a geometric approach
• On the control of complementary-slackness juggling mechanical systems
• Convex Analysis

This page was built for publication: Direct adaptive control design for one-degree-of-freedom complementary-slackness jugglers