Contact transition control of nonlinear mechanical systems subject to unilateral constraints
- Additional Document Info
- View All
In this paper, contact transition control of mechanical systems subject to unilateral constraints is presented. A systematic way is proposed for designing the control laws for unilaterally constrained mechanical systems. Three phases of motion (inactive, transition, active) are formulated depending on the activation/deactivation of the constraints. Our framework describes the complete behaviour of the mechanical system under the action of unilateral constraints. We propose stable control laws for all the phases of the system. Of special interest is the contact transition problem. During this phase the dynamics is discontinuous. Stability analysis of the transition phase is conducted using nonsmooth Lyapunov stability theory. The transition phase is shown to be exponentially stable. The proposed method is successfully implemented on robots interacting with an environment, and we present results of those experiments.
author list (cited authors)
Pagilla, P. R., & Tomizuka, M.