Modelling and controlling one-degree-of-freedom impacts

1 January 1996

journal article
Published by Institution of Engineering and Technology (IET) in IEE Proceedings - Control Theory and Applications

Vol. 143 (1) , 85-90
https://doi.org/10.1049/ip-cta:19960206

Abstract

The problem of modelling and controlling a one-degree-of-freedom impact between two bodies is considered. Basic equations describing the motion of the bodies involved in the collision are derived under conditions of noncontact and contact. A control scheme is proposed on the basis of an observer that is able to asymptotically estimate the impact-induced forces and to allow their asymptotic compensation when the two bodies are in contact. A simulation test is included.

Keywords

NONCONTACT CONDITIONS
ASYMPTOTIC ESTIMATION
IMPACT-INDUCED FORCES
ASYMPTOTIC COMPENSATION
OBSERVER
ONE-DEGREE-OF-FREEDOM IMPACT
CONTACT CONDITIONS
COLLISION

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