Title: A high gain observer for the estimation of velocity and coefficient of restitution in non-smooth mechanical systems

Authors: Sergio Galeani, Laura Menini, Antonio Tornambe

Addresses: Dip. di Informatica, Sistemi e Produzione, Universita di Roma Tor Vergata, via del Politecnico 1, Roma 00133, Italy. ' Dip. di Informatica, Sistemi e Produzione, Universita di Roma Tor Vergata, via del Politecnico 1, Roma 00133, Italy. ' Dip. di Informatica, Sistemi e Produzione, Universita di Roma Tor Vergata, via del Politecnico 1, Roma 00133, Italy

Abstract: An extended observer is proposed for the real-time estimation of both the state variables and the coefficient of restitution for a simple 1 degree-of-freedom mechanical system subject to non-smooth impacts, of which only the position is measured. It is also shown that the presented observer structure can be adapted to cover N degrees-of-freedom linear mechanical systems and to identify the dependence of the coefficient of restitution on the preimpact velocity. The performance of the proposed observer is shown both in simulation and in a real experiment.

Keywords: high gain observers; parameter estimation; non-smooth impacts; mechanical systems; state variables; coefficient of restitution.

DOI: 10.1504/IJMIC.2008.020999

International Journal of Modelling, Identification and Control, 2008 Vol.4 No.1, pp.44 - 58

Published online: 30 Oct 2008 *

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