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Passivity-based switching control of flexible-joint complementarity mechanical systems

Irinel-Constantin Morarescu 1 Bernard Brogliato 1 Said Haad 2
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology, LJK - Laboratoire Jean Kuntzmann, Inria Grenoble - Rhône-Alpes
Abstract : In this study one considers the tracking control problem of a class of nonsmooth Lagrangian systems with flexible joints and subject to frictionless unilateral constraints. The task under consideration consists of a succession of free-motion and constrained-motion phases. A particular attention is paid to impacting and detachment phases. A passivity-based switching controller that allows to extend the stability analysis described in our previous works to the case of systems with lumped flexibilities, is proposed. Numerical tests show the effectiveness of the controller.
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https://hal.inria.fr/inria-00342292
Contributor : Irinel - Constantin Morarescu <>
Submitted on : Thursday, November 27, 2008 - 10:05:59 AM
Last modification on : Tuesday, February 9, 2021 - 3:20:07 PM
Long-term archiving on: : Monday, June 7, 2010 - 7:51:26 PM

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Irinel-Constantin Morarescu, Bernard Brogliato, Said Haad. Passivity-based switching control of flexible-joint complementarity mechanical systems. [Research Report] RR-6739, INRIA. 2008, pp.41. ⟨inria-00342292⟩

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