A high gain observer for the estimation of velocity and coefficient of restitution in non-smooth mechanical systems
by Sergio Galeani, Laura Menini, Antonio Tornambe
International Journal of Modelling, Identification and Control (IJMIC), Vol. 4, No. 1, 2008

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.

Online publication date: Thu, 30-Oct-2008

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