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Reports (Research Report) Year : 2008

Passivity-based tracking control of multiconstraint complementarity Lagrangian systems

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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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Dates and versions

inria-00266810 , version 1 (25-03-2008)
inria-00266810 , version 2 (29-04-2008)

Identifiers

  • HAL Id : inria-00266810 , version 2

Cite

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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