This paper studies statically admissible configurations for a mechanism standing on a horizontal plane (under the action of gravity) subject to mere inequality constraints, which do not inhibit its detachment from the plane and, possibly, its overturn. For a simple case, a strategy to design an admissible control law that drives the mechanism from one admissible position to another one is proposed.
Galeani, S., Menini, L., Tornambe', A. (2003). Control of a simple mechanism subject to unilateral constraints. In Proceedings of the IEEE Conference on Decision and Control (pp.3311-3312). IEEE [10.1109/CDC.2003.1271654].
Control of a simple mechanism subject to unilateral constraints
GALEANI, SERGIO;MENINI, LAURA;TORNAMBE', ANTONIO
2003-01-01
Abstract
This paper studies statically admissible configurations for a mechanism standing on a horizontal plane (under the action of gravity) subject to mere inequality constraints, which do not inhibit its detachment from the plane and, possibly, its overturn. For a simple case, a strategy to design an admissible control law that drives the mechanism from one admissible position to another one is proposed.File in questo prodotto:
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