Passivity-based switching control of flexible-joint complementarity mechanical systems

DOI10.1016/J.AUTOMATICA.2009.10.023zbMath1214.93040OpenAlexW2164369216MaRDI QIDQ985284

Bernard Brogliato, Constantin-Irinel Morărescu

Publication date: 20 July 2010

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://hal.inria.fr/hal-00755991/file/IMBB.pdf

zbMATH Keywords

passivity-based controlflexible jointsnonsmooth systemsLagrangian systemscomplementarity problem

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Complementarity and equilibrium problems and variational inequalities (finite dimensions) (aspects of mathematical programming) (90C33) Control/observation systems governed by ordinary differential equations (93C15) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)

Related Items (7)

Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances ⋮ Modelling and adaptive tracking control for flexible joint robots with random noises ⋮ Neural learning control of flexible joint manipulator with predefined tracking performance and application to Baxter robot ⋮ Model reference control of hyperchaotic systems ⋮ Passivity-based control for hybrid systems with applications to mechanical systems exhibiting impacts ⋮ Prescribed performance tracking for flexible joint robots with unknown dynamics and variable elasticity ⋮ Dynamical Systems Coupled with Monotone Set-Valued Operators: Formalisms, Applications, Well-Posedness, and Stability

Cites Work

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• On the control of finite-dimensional mechanical systems with unilateral constraints
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