Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial. (English) Zbl 1400.70018
Summary: The problem of feedback control of mechanisms with joint clearance is analysed. Various control strategies are reviewed: impactless trajectories with persistent contact, control through collisions, the stabilization of equilibrium points, and trajectory tracking control. This article sets a general control framework, brings some preliminary answers and leaves some problems open, which are mentioned throughout the article and in the conclusions.
MSC:
| 70E55 | Dynamics of multibody systems |
| 70E50 | Stability problems in rigid body dynamics |
| 70Q05 | Control of mechanical systems |
| 93B52 | Feedback control |
| 93D15 | Stabilization of systems by feedback |
Keywords:
joint clearance; multibody system; Lyapunov stability; feedback control; trajectory tracking; impact; Moreau’s sweeping process; contact linear complementarity problem; stabilization; non-smooth Lagrangian system; juggling systemReferences:
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