Trajectory Tracking Feedback Control

  • Bernard BrogliatoEmail author
Part of the Communications and Control Engineering book series (CCE)


This chapter is dedicated to the trajectory tracking control of a large class of frictionless Lagrangian systems with multiple unilateral constraints, complementarity conditions and impacts: rigid-joint rigid-body systems and flexible-joint rigid-body systems.


Transition Phase Contact Force Lyapunov Function Tracking Control Tangent Cone 
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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.INRIA Rhône-AlpesSaint-IsmierFrance

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