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Reports (Research Report) Year : 2004

Robustness analysis of Passivity-based Controllers for Complementarity Lagrangian Systems

Abstract

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.
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Dates and versions

inria-00070618 , version 1 (19-05-2006)

Identifiers

  • HAL Id : inria-00070618 , version 1

Cite

Jean-Matthieu Bourgeot, Bernard Brogliato. Robustness analysis of Passivity-based Controllers for Complementarity Lagrangian Systems. [Research Report] RR-5385, INRIA. 2004, pp.19. ⟨inria-00070618⟩
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