Title :
Some perspectives on the analysis and control of complementarity systems
Author :
Brogliato, Bernard
Author_Institution :
INRIA Rhone-Alpes, France
fDate :
6/1/2003 12:00:00 AM
Abstract :
This paper is devoted to presenting controllability and stabilizability issues associated to a class of nonsmooth dynamical systems, namely complementarity dynamical systems. The main existing results are summarized, and some possible research directions are provided. Convex analysis and complementarity problems are claimed to be the main analysis tools for control related studies. This paper mainly focuses on mechanical applications.
Keywords :
controllability; convex programming; nonlinear dynamical systems; robust control; Lagrange multiplier; controllability; convex analysis; dynamical system; measure differential inclusions; mechanical systems; optimal control; stabilizability; Biological system modeling; Control system analysis; Control systems; Controllability; Mathematics; Mechanical systems; Numerical simulation; Optimal control; Robotic assembly; Solid modeling;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2003.812777
