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.
Document type :
Reports
Complete list of metadatas

Cited literature [15 references]  Display  Hide  Download

https://hal.inria.fr/inria-00070596
Contributor : Rapport de Recherche Inria <>
Submitted on : Friday, May 19, 2006 - 8:58:15 PM
Last modification on : Monday, October 8, 2018 - 9:40:07 AM
Long-term archiving on : Sunday, April 4, 2010 - 9:32:59 PM

Identifiers

  • 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⟩

Share

Metrics

Record views

362

Files downloads

425