In this paper, the regulation problem for 1DOF linear mechanical systems in a contact situation is considered, taking into account the impact phenomena. The impacts are modelled both as smooth (using both the method of the penalizing functions and the barrier method) and non-smooth. Simulation tests show the performances of the proposed control laws, whose effectiveness has been demonstrated analytically.
Galeani, S., Menini, L., Tornambe', A. (2003). Regulation of 1DOF linear mechanical systems to a contact configuration for smooth or non-smooth impacts. In Proceedings of the IEEE Conference on Decision and Control (pp.6345-6350) [10.1109/CDC.2003.1272327].
Regulation of 1DOF linear mechanical systems to a contact configuration for smooth or non-smooth impacts
GALEANI, SERGIO;MENINI, LAURA;TORNAMBE', ANTONIO
2003-01-01
Abstract
In this paper, the regulation problem for 1DOF linear mechanical systems in a contact situation is considered, taking into account the impact phenomena. The impacts are modelled both as smooth (using both the method of the penalizing functions and the barrier method) and non-smooth. Simulation tests show the performances of the proposed control laws, whose effectiveness has been demonstrated analytically.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
