On tracking control of a class of complementary-slackness hybrid mechanical systems

被引：34
作者：
Brogliato, B
Niculescu, S
Monteiro-Marques, M
机构：
[1] CNRS, UMR 5528, INPG, Lab Automat Grenoble, F-38402 St Martin Dheres, France
[2] Univ Technol Compiegne, CNRS, UMR 6659, Ctr Royallieu, F-60205 Compiegne, France
[3] Ctr Matemat & Aplicacoes Fundamentais, P-1699 Lisbon, Portugal
来源：
SYSTEMS & CONTROL LETTERS | 2000年 / 39卷 / 04期
关键词：
nonsmooth; hybrid; stability; mechanical systems;
D O I：
10.1016/S0167-6911(99)00104-8
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this note we consider the problem of feedback control of n-dof (degree-of-freedom) rigid manipulators subject to a scalar frictionless unilateral constraint f(X)greater than or equal to0 (X is an element of R-n is the vector of generalized coordinates). The stability analysis relies on a stability concept that incorporates the hybrid and nonsmooth dynamical feature of the overall system. It is shown that stability of the closed-loop system can be obtained, This work generalizes the results in [Brogliato et al. (IEEE Trans. Automat. Control 42(2) (1997) 200-215)] which were mainly restricted to the l-dof case. It also clarifies some concepts related to the hybrid nature of closed-loop complementary-slackness mechanical systems. (C) 2000 Elsevier Science B.V. All rights reserved.
引用
收藏
页码：255 / 266
页数：12
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