Feedback control of multibody systems with joint clearance and dynamic backlash: A tutorial

Bernard Brogliato (1)

1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems

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 mentionned all through the article and in the conclusions. Differences with the control of other classes of nonsmooth mechanical systems, are pointed out.

Domaines: Automatique / Robotique; Génie mécanique [physics.class-ph]

Bernard Brogliato. Feedback control of multibody systems with joint clearance and dynamic backlash: A tutorial. 2017. ⟨hal-01499581v1⟩