Position and Force Control of Nonsmooth Lagrangian Dynamical Systems Without Friction

— Analyses of position and force control laws in the case of perfectly rigid bodies have been made so far with strong assumptions on the state of the contacts such as supposing that they are permanent. We’re interested here in having a look at what happens when no such assumptions is made: we are led therefore to propose a Lyapunov stability analysis of a position and force control law in the mathematical framework of nonsmooth Lagrangian dynamical systems.

• Type: Conference
• Year: 2005
• Where: HYBRID
• Authors: Sophie Chareyron, Pierre-Brice Wieber
• Keywords: Control Law, HYBRID 2005, Hybrid Systems, Lyapunov Stability Analysis, Strong Assumptions