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Well-Posedness, Robustness, and Stability Analysis of a Set-Valued Controller for Lagrangian Systems

Samir Adly 1 Bernard Brogliato 2, * Ba Khiet Le 1
* Corresponding author
1 XLIM-DMI - DMI
XLIM - XLIM
2 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK [2007-2015] - Laboratoire Jean Kuntzmann [2007-2015], Grenoble INP [2007-2019] - Institut polytechnique de Grenoble - Grenoble Institute of Technology [2007-2019]
Abstract : This paper deals with the analysis of a class of nonsmooth robust controllers for Lagrangian systems with nontrivial mass matrix. First the existence and uniqueness of solutions are analyzed, then the Lyapunov stability, the Krasovskii-LaSalle invariance principle, and finite-time convergence properties are studied.
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Samir Adly, Bernard Brogliato, Ba Khiet Le. Well-Posedness, Robustness, and Stability Analysis of a Set-Valued Controller for Lagrangian Systems. SIAM Journal on Control and Optimization, Society for Industrial and Applied Mathematics, 2013, 51 (2), pp.1592-1614. ⟨10.1137/120872450⟩. ⟨hal-00825578⟩

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