Adaptive regulation of impact induced forces for three degree of freedom collisions: a backstepping approach

The problem of modelling and controlling impacts is considered and the attention is focused on three-degree-of-freedom (3-DOF) collisions. In particular, we examine the behaviour of a 3-DOF body colliding onto an infinitely massive surface characterised by a very high stiffness. First, the paper derives a basic model that describes the dynamics of the system both during the non-contact and also during the contact periods. Next, it presents the design of a control scheme based on the adaptive backstepping technique