1R5. Nonholonomic Mechanics and Control. - AM Bloch (Dept of Math, Univ Michigan, Ann Arbor MI 48109-1109). Springer-Verlag, New York. 2003. 483 pp. ISBN 0-387-95535-6. $69.95.Reviewed by B Brogliato (INRA, 655 Ave De L'Europe, Saint Ismier, 38334, France).This mathematically oriented book is dedicated to the modeling control a class nonlinear mechanical systems, namely systems subject nonholonomic (or non integrable) bilateral constraints. It known that such requires specific tools, as they...

Presents an adaptive control scheme for flexible joint robot manipulators. Asymptotic stability is insured regardless of the flexibility value, i.e., results are not restricted to weak elasticity. Moreover, assumed be known. Joint position and velocity tracking errors shown converge zero with all signals in system remaining bounded.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

This article analyzes the problem of modeling and compensation friction at velocities close to zero. A new model, linear in parameters, which captures downward bends low velocity is used adoptively compensate for friction. The need this type model mainly motivated by instability phenomena that can be caused overcompensation when simple models (such as Coulomb models) are a basis compensation. combination with an adaptive computed torque method, was tested experimentally robot manipulator.

In this paper, a novel discrete-time implementation of sliding-mode control systems is proposed, which fully exploits the multivaluedness dynamics on sliding surface. It shown to guarantee smooth stabilization discrete surface in disturbance-free case, hence avoiding chattering effects due time-discretization. addition, when disturbance acts system, controller attenuates by factor <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">h</i> (where...

This review article focuses on the problems related to numerical simulation of finite dimensional nonsmooth multibody mechanical systems. The rigid body dynamical case is examined here. class systems involves complementarity conditions and impact phenomena, which make its study analysis a difficult problem that cannot be solved by relying known Ordinary Differential Equation (ODE) or Algebraic (DAE) integrators only. main techniques, mathematical tools, existing algorithms are reviewed....

This survey article addresses the class of continuous-time systems where a system modeled by ordinary differential equations is coupled with static or time-varying set-valued operator in feedback. Interconnections this form model certain classes nonsmooth systems, including sweeping processes, inclusions maximal monotone right-hand side, complementarity and evolution variational inequalities, projected dynamical some piecewise linear switching systems. Such mathematical models have seen...

This article deals with the analysis of time discretization supertwisting algorithm, an implicit Euler method. It is shown that discretized system well posed. The existence a Lyapunov function convex level sets proved for continuous-time closed-loop system. Then, global asymptotic stability unperturbed discrete-time proved. convergence to origin in finite number steps also case. Numerical simulations demonstrate superiority method respect explicit significant chattering reduction.

Algorithms of implicit discretization for generalized homogeneous systems having a possible discontinuity only at the origin are developed. They based on transformation original system to an equivalent one which admits or semi-implicit scheme preserving stability properties continuous-time system. Namely, discretized model remains finite-time stable (in case negative homogeneity degree) and practically fixed-time positive degree). The theoretical results supported with numerical examples.

Two of the four very knowledgeable authors this new monograph from Springer series `Communications and Control Engineering' are already known as (co)authors two other volumes in same hence stand for high-quality publications field. This book presents a good advanced introduction to dissipative systems with focus on feedback control. The guiding principle dissipation (or passivity) leads profound understanding various control schemes. As an example, one benefits approach is that search...

This paper focuses on the problem of control a class mechanical systems with finite number degrees-of-freedom, subject to unilateral constraints position. Roughly speaking, those are described by set ordinary differential equations that represent smooth dynamics, together an algebraic inequality condition F(q)/spl ges/0 (where q is vector generalized coordinates) and impact rule relating interaction impulse velocity. Nonsmooth dynamics at core study such systems. implies one can suitably...

This paper is devoted to presenting controllability and stabilizability issues associated a class of nonsmooth dynamical systems, namely complementarity systems. The main existing results are summarized, some possible research directions provided. Convex analysis problems claimed be the tools for control related studies. mainly focuses on mechanical applications.