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Communication Dans Un Congrès Année : 1997

On tracking control of rigid manipulators with unilateral constraints

Résumé

In this note we consider the problem of feedback control of n-dof (degree-of-freedom) rigid manipulators subject to a scalar 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 dynamical feature of the overall system. It is shown that stability of the closed-loop system can be obtained. It is pointed out that showing asymptotic stability certainly requires more advanced stability tools.
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Dates et versions

hal-02301664 , version 1 (30-09-2019)

Identifiants

  • HAL Id : hal-02301664 , version 1

Citer

Bernard Brogliato, Silviu-Iulian Niculescu, M. Monteiro-Marques. On tracking control of rigid manipulators with unilateral constraints. 4th European Control Conference, ECC 1997, B Brogliato, Jul 1997, Brussels, Belgium. pp.3481-3486. ⟨hal-02301664⟩
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