• DocumentCode
    701020
  • Title

    On tracking control of rigid manipulators with unilateral constraints

  • Author

    Brogliato, B. ; Niculescu, S. ; Monteiro-Marques, M.

  • Author_Institution
    Lab. d´Autom. de Grenoble, St. Martin d´Hères, France
  • fYear
    1997
  • fDate
    1-7 July 1997
  • Firstpage
    3481
  • Lastpage
    3486
  • Abstract
    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 ϵ 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.
  • Keywords
    asymptotic stability; closed loop systems; feedback; manipulators; asymptotic stability analysis; closed-loop system stability; feedback control; hybrid dynamical feature; n-DOF rigid manipulators; scalar unilateral constraint; tracking control; Asymptotic stability; Manipulators; Stability criteria; Switches; Constrained mechanical systems; Hybrid systems; Unilateral constraints; stability;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Conference (ECC), 1997 European
  • Conference_Location
    Brussels
  • Print_ISBN
    978-3-9524269-0-6
  • Type

    conf

  • Filename
    7082652
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=701020