Nonlinear output feedback H∞-control of mechanical systems under unilateral constraints

The work focuses on the output 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 H8-controller developed in the hybrid setting, covering impact phenomena. Performance issues of the developed nonlinear H8-tracking controller are illustrated with numerical tests on a mass-spring-damper system impacting against a barrier.