On tracking control of rigid manipulators with unilateral constraints

  • Brogliato B
  • Niculescu S
  • Monteiro-Marques M
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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.

Author-supplied keywords

  • Hybrid systems
  • constrained mechanical systems
  • stability
  • unilateral constraints

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  • PUI: 604332547
  • ISBN: 9783952426906
  • SCOPUS: 2-s2.0-84949086978
  • SGR: 84949086978


  • B Brogliato

  • S Niculescu

  • M Monteiro-Marques

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