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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 [2007-2015] - Laboratoire Jean Kuntzmann [2007-2015], Grenoble INP [2007-2019] - Institut polytechnique de Grenoble - Grenoble Institute of Technology [2007-2019]
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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https://hal.inria.fr/inria-00266810
Contributor : Irinel - Constantin Morarescu <>
Submitted on : Tuesday, April 29, 2008 - 11:07:50 AM
Last modification on : Friday, July 17, 2020 - 11:38:57 AM
Long-term archiving on: : Tuesday, September 21, 2010 - 4:18:56 PM

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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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