Article Dans Une Revue Automatica Année : 2001

Direct adaptive control design for one-degree-of-freedom complementary-slackness jugglers

Résumé

This note deals with the problem of controlling a simple one-degree-of-freedom (1-dof) juggling robot (a system that belongs to the class of nonsmooth hybrid complementary-slackness dynamical systems), when some physical parameters such as the object mass and the restitution coe$cient are not exactly known. The proposed adaptive controller is based on so-called dead-beat viable controllers previously studied, in which the sequence of desired`robota pre-impact velocities is suitably modi"ed. The dynamics of a simple 1-dof hopper is shown to be controllable by the proposed control algorithm. Numerical simulations support the theoretical results.

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hal-02280051 , version 1 (05-09-2019)

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Arturo Zavala-Río, Bernard Brogliato. Direct adaptive control design for one-degree-of-freedom complementary-slackness jugglers. Automatica, 2001, 37 (7), pp.1117-1123. ⟨10.1016/S0005-1098(01)00061-9⟩. ⟨hal-02280051⟩
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