On the control of complementary-slackness juggling mechanical systems
نویسندگان
چکیده
منابع مشابه
On the control of complementary-slackness juggling mechanical systems
This paper studies the feedback control of a class of complementary-slackness hybrid mechanical systems. Roughly, the systems we study are composed of an uncontrollable part (the “object”) and a controlled one (the “robot”), linked by a unilateral constraint and an impact rule. A systematic and general control design method for this class of systems is proposed. The approach is a nontrivial ext...
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In this paper we understand by a `hybrid system' one that combines features of continuous dynamical systems with characteristics of nite automata. We study a special class of such systems which we call the complementary-slackness class. We study existence and uniqueness of solutions in the special cases of linear and Hamiltonian complementary-slackness systems. For the latter class we also prov...
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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. It is shown that the accessibility of the “object” can be characterized by nonlinear constrained equations, or generalized equations. Examples are presented, in...
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Balinski and Tucker introduced in 1969 a special form of optimal tableaus for LP, which can be used to construct primal and dual optimal solutions such that the complementary slackness relation holds strictly. In this paper, first we note that using a polynomial time algorithm for LP Balinski and Tucker’s tableaus are obtainable in polynomial time. Furthermore, we show that, given a pair of pri...
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2000
ISSN: 0018-9286
DOI: 10.1109/9.839946