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HYBRID
2005
Springer

Position and Force Control of Nonsmooth Lagrangian Dynamical Systems Without Friction

13 years 12 months ago
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.
Sophie Chareyron, Pierre-Brice Wieber
Added 27 Jun 2010
Updated 27 Jun 2010
Type Conference
Year 2005
Where HYBRID
Authors Sophie Chareyron, Pierre-Brice Wieber
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