Control law synthesis and sensitivity analysis from Lagrangian formulation with impulse conditions

Abstract

Abstract The general problem of including impulse effects in Lagrangian dynamics is discussed. A self-consistent method is developed and a corresponding block-diagram representation including initial conditions is constructed. An example of collision between two dissimilar robots is provided for illustration. A synthesis method for system control laws is derived from the Lagrangian. Application to control of impulse variations is discussed.