On optimal trajectory tracking for mechanical systems with unilateral constraints

@article{Rijnen2015OnOT,
  title={On optimal trajectory tracking for mechanical systems with unilateral constraints},
  author={Mark Rijnen and Alessandro Saccon and Henk Nijmeijer},
  journal={2015 54th IEEE Conference on Decision and Control (CDC)},
  year={2015},
  pages={2561-2566}
}
This paper addresses the optimal trajectory tracking problem for hybrid systems with discontinuous state trajectories. We consider state-triggered jumps in the state evolution. The tracking of a given reference trajectory is complicated by the fact that the time instants at which the closed-loop dynamics actually jumps differ from those at which the reference trajectory jumps. A recently introduced hybrid feedback tracking controller is used to cope with these differences. A method to design… CONTINUE READING

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