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Contribution à la commande de systèmes mécaniques non-réguliers

Abstract : In the first part of this thesis, we study the tracking control of Lagrangian systems subject to frictionless unilateral constraints. The stability analysis incorporates the hybrid and nonsmooth dynamical feature of the overall system. The difference between tracking control for unconstrained systems and unilaterally constrained ones, is explained in terms of closedloop desired trajectories and control signals. This work provides details on the conditions of existence of controllers which guarantee stability. It is shown that the design of a suitable transition phase desired trajectory, is a crucial step. Some simulation results provide informations on the robustness aspects. Finally the extension towards the case of multiple impacts is considered. The second part of this work deals with the double impact of biped on the ground. We exhibit the necessary conditions to have a double support walk.
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Contributor : Jean-Matthieu Bourgeot <>
Submitted on : Thursday, January 20, 2005 - 9:18:28 AM
Last modification on : Wednesday, November 4, 2020 - 2:43:38 PM
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  • HAL Id : tel-00008133, version 1



Jean-Matthieu Bourgeot. Contribution à la commande de systèmes mécaniques non-réguliers. Automatique / Robotique. Institut National Polytechnique de Grenoble - INPG, 2004. Français. ⟨tel-00008133⟩



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