Skip to Main content Skip to Navigation
Journal articles

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

Bernard Brogliato 1
1 TRIPOP [2018-2019] - Modélisation, simulation et commande des systèmes dynamiques non lisses [2018-2019]
Inria Grenoble - Rhône-Alpes, LJK [2016-2019] - Laboratoire Jean Kuntzmann [2016-2019]
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.
Complete list of metadatas

Cited literature [88 references]  Display  Hide  Download

https://hal.inria.fr/hal-01499581
Contributor : Bernard Brogliato <>
Submitted on : Monday, November 6, 2017 - 10:07:49 AM
Last modification on : Friday, July 17, 2020 - 11:40:04 AM
Long-term archiving on: : Wednesday, February 7, 2018 - 1:13:06 PM

File

paper (1).pdf
Files produced by the author(s)

Identifiers

Collections

Citation

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⟩

Share

Metrics

Record views

475

Files downloads

1220