Control of (otherwise) uncontrollable linear mechanical systems through non-smooth impacts

DOI10.1016/S0167-6911(03)00101-4zbMath1157.93390MaRDI QIDQ2503514

Laura Menini, Antonio Tornambe

Publication date: 21 September 2006

Published in: Systems \& Control Letters (Search for Journal in Brave)

zbMATH Keywords

Complementarity mechanical systemsDead-beat regulationHybrid dynamical systemsNon-smooth impactsUnder actuated linear mechanical systems

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05)

Related Items (5)

Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial ⋮ Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances ⋮ Dead‐beat regulation of mechanical juggling systems ⋮ Discontinuous solutions in the optimal control problems and their representation by singular space-time transformations ⋮ Passivity-based control for hybrid systems with applications to mechanical systems exhibiting impacts

Cites Work

• Fast projection methods for minimal design problems in linear system theory
• On the control of a one degree-of-freedom juggling robot
• Optimal sampled-data control systems
• Nonsmooth impact mechanics. Models, dynamics and control
• On the control of complementary-slackness juggling mechanical systems
• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Global output tracking of polynomial reference signals for a class of single-input single-output nonlinear systems
• Impact controllability of an air hockey puck

This page was built for publication: Control of (otherwise) uncontrollable linear mechanical systems through non-smooth impacts