Control of contact problem in constrained Euler-Lagrange systems

被引:23
|
作者
Pagilla, PR [1 ]
机构
[1] Oklahoma State Univ, Sch Mech & Aerosp Engn, Stillwater, OK 74078 USA
关键词
discontinuous control; Euler-Lagrange systems; impact; nonsmooth Lyapunov analysis; unilateral constraint;
D O I
10.1109/9.956055
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Stabilization of an Euler-Lagrange system onto a constraint surface when the system makes contact with a nonzero impact velocity is an important problem in systems interacting with external environments. Potential applications include robotic surface following and surface finishing operations in manufacturing industry. In this paper, the constrained dynamic equations are modeled as a set of nonsmooth differential equations depending on whether the system lies on the constraint surface or the system repeatedly makes and loses contact with the constraint surface. The focus is on the initial condition problem, i.e., the system hits the constraint with a nonzero impact velocity. A new discontinuous control scheme is proposed that ensures stable regulation of the system onto the constraint surface.
引用
收藏
页码:1595 / 1599
页数:5
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