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Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial

Bernard Brogliato 1
1 TRIPOP - Modélisation, simulation et commande des systèmes dynamiques non lisses
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann
Abstract : The problem of feedback control of mechanisms with joint clearance is analysed. Various control strategies are reviewed: impactless trajectories with persistent contact, control through collisions, the stabilization of equilibrium points, and trajectory tracking control. This article sets a general control framework, brings some preliminary answers and leaves some problems open, which are mentionned all through the article and in the conclusions.
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Submitted on : Monday, November 6, 2017 - 10:07:49 AM
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Bernard Brogliato. Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial. Multibody System Dynamics, Springer Verlag, 2018, 42 (3), pp.283-315. ⟨10.1007/s11044-017-9585-4⟩. ⟨hal-01499581v2⟩

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