Stability Analysis and Control of Rigid-Body Systems With Impacts and Friction

DOI10.1109/TAC.2015.2459151MaRDI QIDQ2980513zbMATH OpenFDO

Authors Michael Posa, Mark M. Tobenkin, Russ Tedrake

Publication date 3 May 2017

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

Full work available at URL https://doi.org/10.1109/TAC.2015.2459151

Mathematics Subject Classification ID

Dynamics of multibody systems (70E55) Robot dynamics and control of rigid bodies (70E60) Problems involving a system of particles with friction (70F40) Semidefinite programming (90C22)

Cited in

(10)

• Lyapunov stability of a rigid body with two frictional contacts
• Discontinuous dynamics of an asymmetric 2-DOF friction oscillator with elastic and rigid impacts
• Stability of rigid body motion through an extended intermediate axis theorem: application to rockfall simulation
• Local exponential stabilization for a class of uncertain nonlinear impulsive periodic switched systems with norm-bounded input
• A sums-of-squares extension of policy iterations
• Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares
• On the design of a position feedback control law for a simple mechanical system subject to impacts
• \(\mathcal{H}_{\infty}\)-stabilization of a 3D bipedal locomotion under a unilateral constraint
• Stability analysis of complementarity systems with neural network controllers
• Trajectory tracking in linear complementarity systems with and without state jumps: a passivity approach

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