Trajectory Tracking Control of Multiconstraint Complementarity Lagrangian Systems
نویسندگان
چکیده
منابع مشابه
Tracking Control of complementarity Lagrangian Systems
In this paper we study the tracking control of Lagrangian systems subject to frictionless unilateral constraints. The stability analysis incorporates the hybrid and nonsmooth dynamical feature of the overall system. The difference between tracking control for unconstrained systems and unilaterally constrained ones, is explained in terms of closed-loop desired trajectories and control signals. T...
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In this paper we study the tracking control of Lagrangian systems subject to frictionless unilateral constraints. The stability analysis incorporates the hybrid and nonsmooth dynamical feature of the overall system. The difference between tracking control for unconstrained systems and unilaterally constrained ones, is explained in terms of closedloop desired trajectories and control signals. Th...
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2010
ISSN: 0018-9286,1558-2523
DOI: 10.1109/tac.2010.2042231