Nonlinear state feedback H-infinity-control of mechanical systems under unilateral constraints

The work focuses on the state feedback synthesis of hybrid mechanical systems under unilateral constraints. The problem of robust control of mechanical systems is addressed under unilateral constraints by designing a nonlinear state feedback H-infinity-controller developed in the hybrid setting, covering impact phenomena. Performance issues of the developed nonlinear H-infinty-tracking controller are illustrated with numerical tests on a seven-link biped robot.