DocumentCode
2251628
Title
A local observer for linearly observable nonlinear mechanical systems subject to impacts
Author
Galeani, S. ; Menini, L. ; Tornambè, A.
Author_Institution
Dip. di Informatica, Tor Vergata Univ., Rome, Italy
Volume
6
fYear
2003
fDate
4-6 June 2003
Firstpage
4760
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.
Keywords
asymptotic stability; impact (mechanical); linearisation techniques; nonlinear control systems; observers; asymptotic observer; equilibrium point; estimation error dynamics; impact times; linearization; linearly observable nonlinear mechanical systems; local exponential stability; local observer; n-degrees-of-freedom system; nonsmooth impacts; scalar measured output; Control systems; Estimation error; Mechanical systems; Mechanical variables measurement; Observers; Orbital robotics; Position measurement; Stability; Velocity control; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2003. Proceedings of the 2003
ISSN
0743-1619
Print_ISBN
0-7803-7896-2
Type
conf
DOI
10.1109/ACC.2003.1242475
Filename
1242475
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