In this note we consider the problem of feedback control of n-dof (degree-of-freedom) rigid manipulators sub ject to a scalar unilateral constraint f(X) ≥ 0 (X ∈ IRn 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.
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