DocumentCode
1219630
Title
Some perspectives on the analysis and control of complementarity systems
Author
Brogliato, Bernard
Author_Institution
INRIA Rhone-Alpes, France
Volume
48
Issue
6
fYear
2003
fDate
6/1/2003 12:00:00 AM
Firstpage
918
Lastpage
935
Abstract
This paper is devoted to presenting controllability and stabilizability issues associated to a class of nonsmooth dynamical systems, namely complementarity dynamical systems. The main existing results are summarized, and some possible research directions are provided. Convex analysis and complementarity problems are claimed to be the main analysis tools for control related studies. This paper mainly focuses on mechanical applications.
Keywords
controllability; convex programming; nonlinear dynamical systems; robust control; Lagrange multiplier; controllability; convex analysis; dynamical system; measure differential inclusions; mechanical systems; optimal control; stabilizability; Biological system modeling; Control system analysis; Control systems; Controllability; Mathematics; Mechanical systems; Numerical simulation; Optimal control; Robotic assembly; Solid modeling;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.2003.812777
Filename
1205187
Link To Document