Passivity-based switching control of flexible-joint complementarity mechanical systems

DOI10.1016/J.AUTOMATICA.2009.10.023MaRDI QIDQ985284zbMATH OpenOpenAlexFDO

Authors Constantin-Irinel Morărescu, B. Brogliato

Publication date 20 July 2010

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://hal.inria.fr/hal-00755991/file/IMBB.pdf

zbMATH Keywords

Lagrangian systemscomplementarity problempassivity-based controlnonsmooth systemsflexible joints

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Complementarity and equilibrium problems and variational inequalities (finite dimensions) (aspects of mathematical programming) (90C33) Control/observation systems governed by ordinary differential equations (93C15) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)

Recommendations

• Passivity-based control of nonlinear flexible multibody systems
• Passivity motivated controller design for flexible structures
• Passivity-based control of mechanical systems
• A hybrid switching control strategy for nonlinear and underactuated mechanical systems
• A unified passivity based control framework for position, torque and impedance control of flexible joint robots
• Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces
• Passivity-based control for hybrid systems with applications to mechanical systems exhibiting impacts
• Active control for flexible mechanical systems with mixed deadzone-saturation input nonlinearities and output constraint
• scientific article; zbMATH DE number 2222108

Cites work

• A sweeping process approach to inelastic contact problems with general inertia operators
• A unified variational model for the dynamics of perfect unilateral constraints
• Feedback stabilization and tracking of constrained robots
• Global tracking controllers for flexible-joint manipulators: A comparative study
• Nonsmooth mechanics. Models, dynamics and control.
• Numerical methods for nonsmooth dynamical systems. Applications in mechanics and electronics
• On the control of finite-dimensional mechanical systems with unilateral constraints
• Stability and convergence of mechanical systems with unilateral constraints
• TRACKING CONTROL OF COMPLEMENTARITY LAGRANGIAN SYSTEMS
• Trajectory tracking for a particle in elliptical billiards
• UNIFORM CONVERGENCE OF MONOTONE MEASURE DIFFERENTIAL INCLUSIONS: WITH APPLICATION TO THE CONTROL OF MECHANICAL SYSTEMS WITH UNILATERAL CONSTRAINTS

Cited in

(10)

• Prescribed performance tracking for flexible joint robots with unknown dynamics and variable elasticity
• Model reference control of hyperchaotic systems
• Neural learning control of flexible joint manipulator with predefined tracking performance and application to Baxter robot
• Modelling and adaptive tracking control for flexible joint robots with random noises
• Passive controller realization of a bicubic admittance containing a pole at \(s=0\) with no more than five elements for inerter-based mechanical control
• Trajectory tracking in linear complementarity systems with and without state jumps: a passivity approach
• Passivity-based control for hybrid systems with applications to mechanical systems exhibiting impacts
• Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances
• TRACKING CONTROL OF COMPLEMENTARITY LAGRANGIAN SYSTEMS
• Dynamical systems coupled with monotone set-valued operators: formalisms, applications, well-posedness, and stability

This page was built for publication: Passivity-based switching control of flexible-joint complementarity mechanical systems

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q985284)