The problem of modelling and controlling impacts is considered in this paper and the attention is focused on three-degree-of-freedom (briefly, 3DOF) collisions. In particular, we examine the behaviour of a 3DOF body colliding onto an infinitely massive surface characterized by a very high stiffness. First, it is derived a basic model that describes the dynamics of the system both during the non-contact and also during the contact periods; secondly, it is presented the design of a control scheme based on the adaptive backstepping technique.
Gentili, F., Tornambe, A. (1997). Adaptive regulation of impact induced forces for three degree of freedom collisions: A backstepping approach. In Proceedings of the American Control Conference (pp.751-755). Piscataway, NJ, United States : IEEE [10.1109/ACC.1997.611902].
Adaptive regulation of impact induced forces for three degree of freedom collisions: A backstepping approach
Gentili, F.;Tornambe, A.
1997-01-01
Abstract
The problem of modelling and controlling impacts is considered in this paper and the attention is focused on three-degree-of-freedom (briefly, 3DOF) collisions. In particular, we examine the behaviour of a 3DOF body colliding onto an infinitely massive surface characterized by a very high stiffness. First, it is derived a basic model that describes the dynamics of the system both during the non-contact and also during the contact periods; secondly, it is presented the design of a control scheme based on the adaptive backstepping technique.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
