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Trajectory Tracking Feedback Control

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

Abstract

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.

Keywords

Transition Phase Contact Force Lyapunov Function Tracking Control Tangent Cone 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.INRIA Rhône-AlpesSaint-IsmierFrance

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