Time-optimal computed-torque control in contact transitions

  • Bálint Magyar
  • Gábor Stépán


The simple mechanical model of an approach-and-touch control procedure is discussed. The aim is to find an appropriate control strategy to approach the target surface, handle the contact transitions and apply the desired force on the contact surface. In the control loop, position and force feedback is present; the absolute position of the target surface is only available for the controller with limited accuracy.
Keywords: contact transition, piecewise-linear system, computed-torque, bang-bang
How to Cite
Magyar, B. and Stépán, G. (no date) “Time-optimal computed-torque control in contact transitions”, Periodica Polytechnica Mechanical Engineering, 56(1), pp. 43-47. doi: https://doi.org/10.3311/pp.me.2012-1.07.