Title :
Fast algebraic impact times estimation for a linear system subject to unilateral constraint
Author :
Bourgeot, Jean-Matthieu ; Delaleau, Emmanuel
Author_Institution :
Lab. de recherche en mecatronique, Brest
Abstract :
In this study we propose an estimator for detecting impacts during the evolution of linear systems subject to unilateral constraint with only the measurement of the position (possibly corrupted by noise). The detection scheme is based on fast algebraic estimator methods. This work provides an estimator, which is independent to the knowledge of the constraint position. Some simulation results are given in the presence of noise.
Keywords :
algebra; constraint theory; estimation theory; impact (mechanical); linear systems; fast algebraic impact times estimation; impact detection; linear system; nonsmooth mechanical system; unilateral constraint; Constraint theory; Contacts; Control systems; Legged locomotion; Linear systems; Mechanical systems; Noise measurement; Position measurement; Robots; Switches; Fast algebraic estimation; Impact detection; Nonsmooth dynamic; Unilateral constraint;
Conference_Titel :
Decision and Control, 2007 46th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
978-1-4244-1497-0
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2007.4434023
