Control of contact problem in constrained Euler-Lagrange systems Academic Article

abstract

• Stabilization of an Euler-Lagrange system onto a constraint surface when the system makes contact with a nonzero impact velocity is an important problem in systems interacting with external environments. Potential applications include robotic surface following and surface finishing operations in manufacturing industry. In this paper, the constrained dynamic equations are modeled as a set of nonsmooth differential equations depending on whether the system lies on the constraint surface or the system repeatedly makes and loses contact with the constraint surface. The focus is on the initial condition problem, i.e., the system hits the constraint with a nonzero impact velocity. A new discontinuous control scheme is proposed that ensures stable regulation of the system onto the constraint surface.

authors

• Pagilla, Prabhakar

published proceedings

• IEEE TRANSACTIONS ON AUTOMATIC CONTROL

author list (cited authors)

• Pagilla, P. R.

citation count

• 23

complete list of authors

• Pagilla, PR

publication date

• January 2001

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE Transactions on Automatic Control  Journal

keywords

• Discontinuous Control
• Euler-lagrange Systems
• Impact
• Nonsmooth Lyapunov Analysis
• Unilateral Constraint

Digital Object Identifier (DOI)

• 10.1109/9.956055

start page

• 1595

end page

• 1599

volume

• 46

issue

• 10

URL

• http://dx.doi.org/10.1109/9.956055