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• W1569408914 abstract "In this study one considers the tracking control problem of a class of nonsmooth Lagrangian systems with flexible joints and subject to frictionless unilateral constraints. The task under consideration consists of a succession of free-motion and constrained-motion phases. A particular attention is paid to impacting and detachment phases. A passivity-based switching controller that allows to extend the stability analysis described in previous works to the case of systems with lumped flexibilities, is proposed. Numerical tests show the effectiveness of the controller." @default.
• W1569408914 created "2016-06-24" @default.
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• W1569408914 date "2009-08-01" @default.
• W1569408914 modified "2023-10-16" @default.
• W1569408914 title "Passivity-based switching control of flexible-joint complementarity mechanical systems" @default.
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• W1569408914 doi "https://doi.org/10.23919/ecc.2009.7075142" @default.
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