✦ LIBER ✦

On tracking control of a class of complementary-slackness hybrid mechanical systems

✍ Scribed by B. Brogliato; S. Niculescu; M. Monteiro-Marques

Publisher: Elsevier Science
Year: 2000
Tongue: English
Weight: 190 KB
Volume: 39
Category: Article
ISSN: 0167-6911
DOI: 10.1016/s0167-6911(99)00104-8

No coin nor oath required. For personal study only.

✦ Synopsis

In this note we consider the problem of feedback control of n-dof (degree-of-freedom) rigid manipulators subject to a scalar frictionless unilateral constraint f(X )¿0 (X ∈ R n is the vector of generalized coordinates). The stability analysis relies on a stability concept that incorporates the hybrid and nonsmooth dynamical feature of the overall system. It is shown that stability of the closed-loop system can be obtained. This work generalizes the results in [Brogliato et al. (IEEE Trans. Automat. Control 42(2) (1997) 200 -215)] which were mainly restricted to the 1-dof case. It also clariÿes some concepts related to the hybrid nature of closed-loop complementary-slackness mechanical systems.

📜 SIMILAR VOLUMES

Hybrid position/force tracking for a cla

Hybrid position/force tracking for a class of constrained mechanical systems

✍ Jing-Sin Liu 📂 Article 📅 1991 🏛 Elsevier Science 🌐 English ⚖ 279 KB

Control of a class of underactuated mech

Control of a class of underactuated mechanical systems

✍ Tatsuo Narikiyo; Junichiro Sahashi; Kazutomo Misao 📂 Article 📅 2008 🏛 Elsevier 🌐 English ⚖ 535 KB

Stabilization and tracking control for a

Stabilization and tracking control for a class of nonlinear systems

✍ Muhammad Rehan; Keum-Shik Hong; Shuzhi Sam Ge 📂 Article 📅 2011 🏛 Elsevier Science 🌐 English ⚖ 387 KB

Output feedback control of a class of st

Output feedback control of a class of stochastic hybrid systems

✍ Samir Aberkane; Jean Christophe Ponsart; Mickael Rodrigues; Dominique Sauter 📂 Article 📅 2008 🏛 Elsevier Science 🌐 English ⚖ 664 KB

This paper deals with static output feedback control of a class of reconfigurable systems with Markovian Parameters and state-dependent noise. The main contribution is to formulate conditions for multi-performance design related to this class of stochastic hybrid systems. The specifications and obje

Global output feedback tracking control

Global output feedback tracking control for a class of Lagrangian systems

✍ Gildas Besançon 📂 Article 📅 2000 🏛 Elsevier Science 🌐 English ⚖ 181 KB

The problem of global tracking control without velocity measurement of the so-called Euler}Lagrange systems has been paid a lot of attention for the past several years. In this note, a nice property of one-degree-of-freedom Euler}Lagrange systems is highlighted, which in particular allows us to obta

On hybrid control of a class of stochast

On hybrid control of a class of stochastic non-linear Markovian switching systems

✍ Yuewu Dong; Jitao Sun 📂 Article 📅 2008 🏛 Elsevier Science 🌐 English ⚖ 179 KB

In this paper, we address the problem of hybrid control for a class of stochastic non-linear Markovian switching systems. First, a hybrid controller is introduced for the systems. Then under some appropriate assumptions, the stabilization condition for the systems under pure impulsive control is giv