Title :
State estimation for a class of linear mechanical systems that become observable thanks to non-smooth impacts
Author :
Martinelli, Francesco ; Menini, Laura ; Tornambe, Antonio
Author_Institution :
Dipt. di Inf., Sistemi e Politecnico, Rome Univ., Italy
Abstract :
The paper deals with mechanical systems, constituted by two composite bodies colliding with each other, which would be unobservable in absence of impacts. For two relevant and different cases, observers are proposed which, under suitable assumptions, are able to estimate all the non-measurable state variables.
Keywords :
impact (mechanical); linear systems; observability; state estimation; composite bodies collision; linear mechanical systems; nonmeasurable state variable; nonsmooth impacts; state estimation; Coordinate measuring machines; Mechanical systems; Mechanical variables measurement; Observers; Orbital robotics; Position measurement; Robot kinematics; Springs; State estimation; Velocity measurement;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184922
