Sensitivity analysis for trajectories of nonsmooth mechanical systems with simultaneous impacts: a hybrid systems perspective

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Abstract

Sensitivity analysis for hybrid systems with state-triggered jumps is experiencing renewed attention for the control of robots with intermittent contacts. The basic assumption that enables this type of analysis is that jumps are triggered when the state reaches, transversally, a sufficiently smooth switching surface. In many scenarios of practical relevance, however, this switching surface is just piecewise smooth and, moreover, a perturbation of the initial conditions or the input leads to a different number of jumps than the nominal trajectory's. This work extends the sensitivity analysis in this context, under the assumptions that (i) at least locally, the intermediate perturbation-dependent jumps lead the system to reach always the nominal post-impact mode and (ii) once a switching and corresponding intermediate jump has occurred, its corresponding constraint remains active until reaching the nominal post-impact mode. Numerical simulations complement and validate the theoretical findings.

Original languageEnglish
Title of host publication2019 American Control Conference, ACC 2019
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages3623-3629
Number of pages7
ISBN (Electronic)978-1-5386-7926-5
DOIs
Publication statusPublished - 1 Jul 2019
Event2019 American Control Conference, ACC 2019 - Philadelphia, United States
Duration: 10 Jul 201912 Jul 2019
http://acc2019.a2c2.org

Conference

Conference2019 American Control Conference, ACC 2019
Abbreviated titleACC2019
CountryUnited States
CityPhiladelphia
Period10/07/1912/07/19
Internet address

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