Cart (Loading....) | Create Account
Close category search window
 

On the control of complementary-slackness juggling mechanical systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Brogliato, B. ; ENSIEG, Lab. d''Autom. de Grenoble, St. Martin d''Heres, France ; Rio, A.Z.

Studies the feedback control of a class of complementary-slackness hybrid mechanical systems. Roughly, the systems we study are composed of an uncontrollable part (the “object”) and a controlled one (the “robot”), linked by a unilateral constraint and an impact rule. A systematic and general control design method for this class of systems is proposed. The approach is a nontrivial extension of the one degree-of-freedom (DOF) juggler control design. In addition to the robot control, it is also useful to study some intermediate controllability properties of the object's impact Poincare mapping, which generally takes the form of a nonlinear discrete-time system. The force input mainly consists of a family of dead-beat feedback control laws, introduced via a recursive procedure, and exploiting the underlying discrete-time structure of the system. The main goal of the paper is to highlight the role of various physical and control properties characteristic of the system on its stabilizability properties and to propose solutions in certain cases

Published in:

Automatic Control, IEEE Transactions on  (Volume:45 ,  Issue: 2 )

Date of Publication:

Feb 2000

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.