DocumentCode
2814423
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
fYear
2007
fDate
12-14 Dec. 2007
Firstpage
2701
Lastpage
2706
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2007 46th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
978-1-4244-1497-0
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2007.4434023
Filename
4434023
Link To Document