Robustness analysis of Passivity-based Controllers for Complementarity Lagrangian Systems
Résumé
In this paper we study the robustness of tracking controllers for Lagrangian systems subject to frictionless unilateral constraints. The stability analysis incorporates the hybrid and nonsmooth dynamical features of the overall system. This work provides details on the robustness of such controllers with respect to the modelling errors of the dynamic, the uncertainty on the constraint position, and with respect to the measurement noise.