Velocity observers for nonlinear mechanical systems subject to nonsmooth impacts
type: Item
instance of: scholarly article
title: Velocity observers for nonlinear mechanical systems subject to nonsmooth impacts
zbMATH Open document ID: 1017.93070
DOI: 10.1016/S0005-1098(02)00164-4
published in: Automatica
publication date: 2003-02-13T00:00:00Z
review text: The authors study a mechanical system subject to impacts from the control point of view. Typical applications are the free-flying space robots because the impacts between the robot and environment constitute a significant feature of the robot task. The authors consider the estimation of the velocity variables for a nonlinear mechanical system subject to non-smooth impacts, both elastic and inelastic. A reduced-order observer, which guarantees a locally exponential stable error system, despite the presence of an infinite sequence of non-smooth impacts, is suggested. The Lyapunov stability technique is used.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93B07
Mathematics Subject Classification ID: 74M20
Mathematics Subject Classification ID: 93D05
Mathematics Subject Classification ID: 93C10
zbMATH DE Number: 1868212
zbMATH Keywords: impact
zbMATH Keywords: mechanical system
zbMATH Keywords: observers
zbMATH Keywords: stable observation
author: Laura Menini
author: Antonio Tornambé
reviewed by: Yuri N. Sankin
MaRDI profile type: Publication
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description: scientific article; zbMATH DE number 1868212