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. Indexing terms:. © lEE, 1996 m.
Tornambè, A. (1996). Modelling and controlling one-degree-of-freedom impacts. IEE PROCEEDINGS. CONTROL THEORY AND APPLICATIONS, 143(1), 85-90 [10.1049/ip-cta:19960206].
Modelling and controlling one-degree-of-freedom impacts
Tornambè, A.
1996-01-01
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. Indexing terms:. © lEE, 1996 m.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
