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Robustness analysis of Passivity-based Controllers for Complementarity Lagrangian Systems

Abstract : In this paper we study the robustness of tracking controllers for Lagrangian systems subject to frictionless unilateral constraints. The stability analysis incorporates the hybrid and nonsmooth dynamical features of the overall system. This work provides details on the robustness of such controllers with respect to the modelling errors of the dynamic, the uncertainty on the constraint position, and with respect to the measurement noise.
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https://hal.inria.fr/inria-00070618
Contributor : Rapport de Recherche Inria <>
Submitted on : Friday, May 19, 2006 - 9:01:49 PM
Last modification on : Friday, June 26, 2020 - 4:56:01 PM
Long-term archiving on: : Sunday, April 4, 2010 - 9:35:14 PM

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  • HAL Id : inria-00070618, version 1

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Jean-Matthieu Bourgeot, Bernard Brogliato. Robustness analysis of Passivity-based Controllers for Complementarity Lagrangian Systems. [Research Report] RR-5385, INRIA. 2004, pp.19. ⟨inria-00070618⟩

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