Stability and regulation of nonsmooth dynamical systems

Abstract : The mathematical analysis of nonsmooth Lagrangian dynamical systems leads to introduce mathematical tools which are unusual in control theory, velocities with locally bounded variations, measure accelerations, measure differential inclusions to name a few. The control theory for such dynamical systems is just beginning to appear, and even the basic Lyapunov stability theory still needs to be stated. We will be able though to propose a Lagrange-Dirichlet theorem for nonsmooth Lagrangian dynamical systems that will be applied through Potential Shaping to the regulation of the position and force of a robotic manipulator.
Type de document :
Rapport
[Research Report] RR-5408, INRIA. 2004, pp.15
Liste complète des métadonnées

Littérature citée [15 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00070596
Contributeur : Rapport de Recherche Inria <>
Soumis le : vendredi 19 mai 2006 - 20:58:15
Dernière modification le : mercredi 11 avril 2018 - 01:53:01
Document(s) archivé(s) le : dimanche 4 avril 2010 - 21:32:59

Fichiers

Identifiants

  • HAL Id : inria-00070596, version 1

Collections

Citation

Sophie Chareyron, Pierre-Brice Wieber. Stability and regulation of nonsmooth dynamical systems. [Research Report] RR-5408, INRIA. 2004, pp.15. 〈inria-00070596〉

Partager

Métriques

Consultations de la notice

327

Téléchargements de fichiers

326