1999
DOI: 10.1109/9.746255
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Modeling and control of impact in mechanical systems: theory and experimental results

Abstract: International audienceThis paper considers the equations of motion of mechanical systems subject to inequality constraints, which can be obtained by looking for the stationary value of the action integral. Two different methods are used to take into account the inequality constraints in the computation of the stationary value of the action integral: the method of the Valentine variables and the method of the penalty functions. The equations of motion resulting from the application of the method of the Valentin… Show more

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Cited by 118 publications
(103 citation statements)
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“…In (5) and (6), denotes the impact force acting on the mass that occurs when (see Fig. 1) is assumed to have the following form [1], [26] (7) where represents an unknown positive stiffness constant and is defined as .…”
Section: Dynamic Modelmentioning
confidence: 99%
“…In (5) and (6), denotes the impact force acting on the mass that occurs when (see Fig. 1) is assumed to have the following form [1], [26] (7) where represents an unknown positive stiffness constant and is defined as .…”
Section: Dynamic Modelmentioning
confidence: 99%
“…In particular, several Lyapunovbased solutions to their stabilization and tracking problem have been proposed in Brogliato (2004); Leine and van de Wouw (2008); Tornambe (1999), and several studies have been developed for the dual state-estimation problem Menini and Tornambè (2001b,a); Galeani et al (2003). Some of them address the problem via the larger class of complementarity Lagrangian systems.…”
Section: Introductionmentioning
confidence: 99%
“…Many publications focus on the control of mechanical systems with frictionless unilateral contacts by means of Lyapunov functions. See, for instance Brogliato et al [11] and Tornambè [44] and the book [8] for further references.…”
Section: Introductionmentioning
confidence: 99%