An asymptotic observer for nonlinear mechanical systems subject to non-smooth impacts is proposed, which can be applied to n-degrees-of-freedom systems with just one scalar measured output, whose linearization about a given equilibrium point is observable. The proposed observer, whose state is subject to jumps at the impact times, guarantees local exponential stability of the estimation error dynamics.
Galeani, S., Menini, L., Tornambe', A. (2003). A local observer for linearly observable nonlinear mechanical systems subject to impacts. In Proceedings of the American Control Conference [10.1109/ACC.2003.1242475].
A local observer for linearly observable nonlinear mechanical systems subject to impacts
GALEANI, SERGIO;MENINI, LAURA;TORNAMBE', ANTONIO
2003-01-01
Abstract
An asymptotic observer for nonlinear mechanical systems subject to non-smooth impacts is proposed, which can be applied to n-degrees-of-freedom systems with just one scalar measured output, whose linearization about a given equilibrium point is observable. The proposed observer, whose state is subject to jumps at the impact times, guarantees local exponential stability of the estimation error dynamics.File in questo prodotto:
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