Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial
暂无分享,去创建一个
[1] Bernard Brogliato,et al. Observer Design for Unilaterally Constrained Lagrangian Systems: A Passivity-Based Approach , 2016, IEEE Transactions on Automatic Control.
[2] S. M. Varedi,et al. Optimal dynamic design of a planar slider-crank mechanism with a joint clearance , 2015 .
[3] J. A. Tenreiro Machado,et al. Describing function of two masses with backlash , 2008 .
[4] Bernard Brogliato,et al. Tracking Control of complementarity Lagrangian Systems , 2005, Int. J. Bifurc. Chaos.
[5] Gun-Hee Jang,et al. Vibration analysis of a rotating system due to the effect of ball bearing waviness , 2004 .
[6] Laura Menini,et al. Velocity observers for non-linear mechanical systems subject to non-smooth impacts , 2002, Autom..
[7] Bernard Brogliato,et al. On the controllability of linear juggling mechanical systems , 2006, Syst. Control. Lett..
[8] Andreas Müller,et al. Internal Preload Control of Redundantly Actuated Parallel Manipulators—Its Application to Backlash Avoiding Control , 2005, IEEE Transactions on Robotics.
[9] F. R. Gantmakher. The Theory of Matrices , 1984 .
[10] Laura Menini,et al. Trajectory tracking for a particle in elliptical billiards , 2008, Int. J. Control.
[11] R. Leine,et al. A synchronization‐based state observer for impact oscillators using only collision time information , 2016 .
[12] Arturo Zavala-Río,et al. Direct adaptive control design for one-degree-of-freedom complementary-slackness jugglers , 2001, Autom..
[13] Lung-Wen Tsai,et al. On the Redundant-Drive Backlash-Free Robotic Mechanisms , 1993 .
[14] Shaoze Yan,et al. A comprehensive model for 3D revolute joints with clearances in mechanical systems , 2015 .
[15] Laetitia Paoli,et al. Penalty Approximation for Dynamical Systems Submitted to Multiple Non-Smooth Constraints , 2002 .
[16] Bernard Brogliato,et al. Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction , 2014 .
[17] N. van de Wouw,et al. Attractivity of Equilibrium Sets of Systems with Dry Friction , 2004 .
[18] B. Brogliato,et al. Analysis of Proportional—Derivative and Nonlinear Control of Mechanical Systems with Dynamic Backlash , 2003 .
[19] Bernard Brogliato,et al. Multiple Impacts in Dissipative Granular Chains , 2013 .
[20] Koushil Sreenath,et al. Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics , 2014, IEEE Transactions on Automatic Control.
[21] Christine Chevallereau,et al. Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot , 2005, Int. J. Robotics Res..
[22] C. Pereira,et al. A critical overview of internal and external cylinder contact force models , 2011 .
[23] C. S. Koshy,et al. Study of the effect of contact force model on the dynamic response of mechanical systems with dry clearance joints: computational and experimental approaches , 2013 .
[24] Y. Shao,et al. On the contact stiffness and nonlinear vibration of an elastic body with a rough surface in contact with a rigid flat surface , 2015 .
[25] N. Wouw,et al. Stability and Convergence of Mechanical Systems with Unilateral Constraints , 2008 .
[26] Bernard Brogliato,et al. The contact problem in Lagrangian systems subject to bilateral and unilateral constraints, with or without sliding Coulomb’s friction: a tutorial , 2016, Multibody System Dynamics.
[27] B. Brogliato,et al. Numerical Methods for Nonsmooth Dynamical Systems: Applications in Mechanics and Electronics , 2008 .
[28] B. Brogliato,et al. Dissipative Systems Analysis and Control , 2000 .
[29] A. Isidori,et al. Asymptotic stabilization of minimum phase nonlinear systems , 1991 .
[30] Arjan van der Schaft,et al. Dynamics and control of a class of underactuated mechanical systems , 1999, IEEE Trans. Autom. Control..
[31] Bernard Brogliato,et al. Trajectory Tracking Control of Multiconstraint Complementarity Lagrangian Systems , 2010, IEEE Transactions on Automatic Control.
[32] P. Ballard. Formulation and well-posedness of the dynamics of rigid-body systems with perfect unilateral constraints , 2001, Philosophical Transactions of the Royal Society of London. Series A: Mathematical, Physical and Engineering Sciences.
[33] Vincent Acary,et al. Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances , 2016 .
[34] Mark W. Spong,et al. Comments on "Adaptive manipulator control: a case study" by J. Slotine and W. Li , 1990 .
[35] J. Hiriart-Urruty,et al. Fundamentals of Convex Analysis , 2004 .
[36] B. Brogliato. Nonsmooth Mechanics: Models, Dynamics and Control , 1999 .
[37] Vincent Acary,et al. Numerical Methods for Nonsmooth Dynamical Systems: Applications in Mechanics and Electronics , 2008 .
[38] Laura Menini,et al. Control of (otherwise) uncontrollable linear mechanical systems through non-smooth impacts , 2003, Syst. Control. Lett..
[39] Bo Egardt,et al. Backlash Estimation With Application to Automotive Powertrains , 2007, IEEE Transactions on Control Systems Technology.
[40] B. Brogliato,et al. On the Control of a One Degree-of-Freedom Juggling Robot , 1999 .
[41] J. Yorke,et al. Controllability of linear oscillatory systems using positive controls , 1971 .
[42] Jorge Ambrósio,et al. Numerical and experimental investigation on multibody systems with revolute clearance joints , 2011 .
[43] Friedrich Pfeiffer,et al. Multibody Dynamics with Unilateral Contacts , 1996 .
[44] Christoph Glocker,et al. An Introduction to Impacts , 2006 .
[45] N. H. McClamroch,et al. Feedback stabilization and tracking of constrained robots , 1988 .
[46] Arturo Zavala-Río,et al. On the control of complementary-slackness juggling mechanical systems , 2000, IEEE Trans. Autom. Control..
[47] Mingfeng Li,et al. Comparative analysis of actuator concepts for active gear pair vibration control , 2004 .
[48] Bernhard Maschke,et al. Dissipative Systems Analysis and Control , 2000 .
[49] Mattias Nordin,et al. Controlling mechanical systems with backlash - a survey , 2002, Autom..
[50] Brad Paden,et al. Globally asymptotically stable ‘PD+’ controller for robot manipulators , 1988 .
[51] B. Brogliato,et al. On the control of finite-dimensional mechanical systems with unilateral constraints , 1997, IEEE Trans. Autom. Control..
[52] Andreas Krinner,et al. Non-smooth Behaviour of a Linkage Mechanism with Revolute Clearance Joints , 2014 .
[53] C. Glocker. Set-valued force laws , 2001 .
[54] Dennis S. Bernstein,et al. Matrix Mathematics: Theory, Facts, and Formulas with Application to Linear Systems Theory , 2005 .
[55] B. Brogliato. Inertial couplings between unilateral and bilateral holonomic constraints in frictionless Lagrangian systems , 2013 .
[56] J. Moreau,et al. Unilateral Contact and Dry Friction in Finite Freedom Dynamics , 1988 .
[57] V. Acary,et al. Projected event-capturing time-stepping schemes for nonsmooth mechanical systems with unilateral contact and Coulomb’s friction , 2013 .
[58] Laura Menini,et al. On the computation of the continuous-time reference trajectory for mechanical juggling systems , 2015, 2015 54th IEEE Conference on Decision and Control (CDC).
[59] Per-Olof Gutman,et al. New models for backlash and gear play , 1997 .
[60] San Nicol,et al. Analysis of PD and Nonlinear Control of Mechanical Systems with Dynamic Backlash , 2002 .
[61] T. Thuemmel,et al. Introduction to Modelling and Parameter Identification Methodology of Linkages by Measurements and Simulation , 2011 .
[62] Bernard Brogliato. Absolute stability and the Lagrange-Dirichlet theorem with monotone multivalued mappings , 2004, Syst. Control. Lett..
[63] Xu Qingyu,et al. Dynamic model of ball bearings with internal clearance and waviness , 2006 .
[64] Khalid Addi,et al. A qualitative mathematical analysis of a class of linear variational inequalities via semi-complementarity problems: applications in electronics , 2011, Math. Program..