Passivity-based tracking control of multiconstraint complementarity Lagrangian systems

被引：1
|
作者：
Morarescu, Constantin-Irinel [1 ]
Brogliato, Bernard [1 ]
机构：
[1] INRIA, BIPOP Team Project, F-38330 Montbonnot St Martin, France
来源：
47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008) | 2008年
关键词：
D O I：
10.1109/CDC.2008.4738594
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 work extends previous works on the topic as it considers multiconstraint n-degree-of-freedom systems.
引用
收藏
页码：292 / 297
页数：6
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