Tracking control of discrete and continuous hybrid systems: modeling and servoing problem of dextrous hand manipulation

By considering the multi-contact hand manipulation problem in hybrid system field, we propose a MLD model, which encapsulates switching between types of motion, and phases of continuous motion. Then we consider the tracking problem of the hybrid system to follow a family of reference signals produced by an external signal generator. The internal model theory for traditional continuous systems is extended to hybrid systems so as to solve the problem. These results are still missing in the field of multi-contact robot system design by taking into account the whole hybrid dynamics.