Skip to Main content Skip to Navigation
New interface
Journal articles

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

Irinel-Constantin Morarescu 1 Bernard Brogliato 1, * 
* Corresponding author
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology
Abstract : In this study one considers the tracking control problem of a class of nonsmooth Lagrangian systems with flexible joints and subject to frictionless unilateral constraints. The task under consideration consists of a succession of free-motion and constrained-motion phases. Particular attention is paid to impacting and detachment phases. A passivity-based switching controller that allows one to extend the stability analysis described in our previous works to the case of systems with lumped flexibilities, is proposed. Numerical tests show the effectiveness of the controller.
Document type :
Journal articles
Complete list of metadata

Cited literature [13 references]  Display  Hide  Download
Contributor : Bernard Brogliato Connect in order to contact the contributor
Submitted on : Wednesday, November 1, 2017 - 4:36:12 PM
Last modification on : Thursday, January 20, 2022 - 5:28:10 PM
Long-term archiving on: : Friday, February 2, 2018 - 12:48:55 PM


Files produced by the author(s)




Irinel-Constantin Morarescu, Bernard Brogliato. Passivity-based switching control of flexible-joint complementarity mechanical systems. Automatica, 2010, 46 (1), pp.160-166. ⟨10.1016/j.automatica.2009.10.023⟩. ⟨hal-00755991⟩



Record views


Files downloads