IEEE - Institute of Electrical and Electronics Engineers, Inc. - Trajectory Tracking Control of Multiconstraint Complementarity Lagrangian Systems

Author(s): Irinel Constantin Morǎrescu ; Bernard Brogliato
Sponsor(s): IEEE Control Systems Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 June 2010
Volume: 55
Page Count: 14
Page(s): 1,300 - 1,313
ISSN (Paper): 0018-9286
ISSN (Online): 1558-2523
DOI: 10.1109/TAC.2010.2042231
Regular:

In this study, one considers the tracking control problem of a class of nonsmooth fully actuated Lagrangian systems subject to frictionless unilateral constraints. The task under consideration... View More

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