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Communication Dans Un Congrès Année : 2008

Passivity-based tracking control of multiconstraint complementarity Lagrangian systems

Résumé

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.
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Dates et versions

hal-01629039 , version 1 (05-11-2017)

Identifiants

Citer

Irinel-Constantin Morarescu, Bernard Brogliato. Passivity-based tracking control of multiconstraint complementarity Lagrangian systems. 47th IEEE Conference on Decision and Control (CDC2008), Dec 2008, Cancun, Mexico. pp.292-297, ⟨10.1109/CDC.2008.4738594⟩. ⟨hal-01629039⟩
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