Advanced Search

Query:

Fill in the form and click »Search«...

Format:

Display: entries per page entries

Zbl 1214.93040
Morărescu, Constantin-Irinel; Brogliato, Bernard
Passivity-based switching control of flexible-joint complementarity mechanical systems. (English)
[J] Automatica 46, No. 1, 160-166 (2010). ISSN 0005-1098

Summary: The authors consider 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. Particular attention is paid to impacting and detachment phases. A passivity-based switching controller that allows one 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.

MSC 2000:: *93B35 Sensitivity (robustness) of control systems
93C15 Control systems governed by ODE
90C33 Complementarity problems
93C30 Control systems governed by other functional relations

Keywords: flexible joints; passivity-based control; nonsmooth systems; Lagrangian systems; complementarity problem

Comment on this Item PDF MathML XML ASCII DVI PS BibTeX Online Ordering Article Journal

	Scientific prize winners of the ICM 2010
	Overhang
	Lie groups, physics and geometry. An introduction for physicists, engineers and chemists.

Advanced Search

Zentralblatt MATH Berlin [Germany]