On tracking control of a class of complementary-slackness hybrid mechanical systems
Résumé
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) ≥ 0 (X ∈ ℝn 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 1-dof case. It also clarifies some concepts related to the hybrid nature of closed-loop complementary-slackness mechanical systems. © 2000 Elsevier Science B.V. All rights reserved.