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

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