Position and Force Control of Nonsmooth Lagrangian Dynamical Systems without Friction

Abstract : Analyses of position and force control laws in the case of perfectly rigid bodies have been made so far with strong assumptions on the state of the contacts such as supposing that they are permanent. We're interested here in having a look at what happens when no such assumptions is made: we are led therefore to propose a Lyapunov stability analysis of a position and force control law in the mathematical frame-work of nonsmooth Lagrangian dynamical systems, a typical example of hybrid dynamical systems.
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Communication dans un congrès
International Workshop on Hybrid Systems Computation and Control, 2005, Zurich, Switzerland. 2005
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https://hal.inria.fr/inria-00390411
Contributeur : Pierre-Brice Wieber <>
Soumis le : mardi 2 juin 2009 - 10:00:58
Dernière modification le : lundi 5 octobre 2015 - 16:57:48
Document(s) archivé(s) le : vendredi 11 juin 2010 - 00:09:03

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  • HAL Id : inria-00390411, version 1

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Sophie Chareyron, Pierre-Brice Wieber. Position and Force Control of Nonsmooth Lagrangian Dynamical Systems without Friction. International Workshop on Hybrid Systems Computation and Control, 2005, Zurich, Switzerland. 2005. <inria-00390411>

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