Title :
Modelling and controlling one-degree-of-freedom impacts
Author_Institution :
Dipartimento di Meccanica e Automatica, Rome Univ., Italy
fDate :
1/1/1996 12:00:00 AM
Abstract :
The problem of modelling and controlling a one-degree-of-freedom impact between two bodies is considered. Basic equations describing the motion of the bodies involved in the collision are derived under conditions of noncontact and contact. A control scheme is proposed on the basis of an observer that is able to asymptotically estimate the impact-induced forces and to allow their asymptotic compensation when the two bodies are in contact. A simulation test is included
Keywords :
decentralised control; force control; observers; robust control; asymptotic compensation; asymptotic estimation; collision; contact conditions; impact-induced forces; noncontact conditions; observer; one-degree-of-freedom impact;
Journal_Title :
Control Theory and Applications, IEE Proceedings -
DOI :
10.1049/ip-cta:19960206
