Trajectory Tracking Control of Multiconstraint Complementarity Lagrangian Systems

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 contains both free-motion and constraint-motion phases. A switching controller that guarantees an approximate tracking is designed. Particular attention is paid to transition (impacting and detachment) between different phases of motion. The exogenous signals that assure the stabilization on (take-off from) some constraints are explicitly defined. This paper extends previous works on the topic as it considers more than one constraint for n-degree-of-freedom systems. Numerical examples illustrate the main results.