Passivity-based tracking control of multiconstraint complementarity Lagrangian systems
Abstract
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 paper extends previous works on the topic as it considers multiconstraint n-degree-of-freedom systems.
Domains
Automatic Control Engineering
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