线性杂耍机械系统的可控性判据

Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI:10.1109/CCA.2001.974017

B. Brogliato, M. Mabrouk, A. Z. Río

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引用次数: 4

摘要

研究了一类非光滑互补机械系统的可控性问题。由于其特殊的结构，它们可以分解为一个“物体”和一个“机器人”，因此它们被命名为杂耍系统。以线性杂耍者为研究对象，证明了“对象”的可控性可以用非线性约束方程或广义方程来表征。给出了实例。

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A controllability criterion for linear juggling mechanical systems

This paper deals with the controllability of a class of nonsmooth complementarity mechanical systems. Due to their particular structure they can be decomposed into an "object" and a "robot", consequently they are named juggling systems. Focusing on linear jugglers, it is shown that the controllability of the "object" can be characterized by nonlinear constrained equations, or generalized equations. Examples are presented.

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Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)

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