Passivity-based tracking control of multiconstraint complementarity Lagrangian systems

Irinel - Constantin Morarescu 1 Bernard Brogliato 1
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : In this study one considers the tracking control problem of a class of nonsmooth fully actuated Lagrangian systems subject to frictionless unilateral constraints. A passivity-based switching controller that guarantees some stability properties of the closed-loop system is designed. A particular attention is paid to transition (impacting) and detachment phases of motion. This paper extends previous works on the topic as it considers multiconstraint n-degree-of-freedom systems.
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Rapport
[Research Report] RR-6483, INRIA. 2008, pp.35
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Irinel - Constantin Morarescu, Bernard Brogliato. Passivity-based tracking control of multiconstraint complementarity Lagrangian systems. [Research Report] RR-6483, INRIA. 2008, pp.35. 〈inria-00266810v2〉

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