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Experimental Performance Verification of a Synchronization Based State Observer Using Only Collision Time Information

[+] Author Affiliations
Pascal V. Preiswerk, Remco I. Leine

University of Stuttgart, Stuttgart, Germany

Paper No. DETC2018-85859, pp. V008T10A020; 7 pages
doi:10.1115/DETC2018-85859
From:
  • ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 8: 30th Conference on Mechanical Vibration and Noise
  • Quebec City, Quebec, Canada, August 26–29, 2018
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5185-2
  • Copyright © 2018 by ASME

abstract

A state observer that only uses the collision time information has recently been developed for linear time-invariant multibody systems with unilateral constraints. The observer is based on synchronization and makes use of switched geometric unilateral constraints, which generate a unidirectional coupling in a master-slave setup. In presence of uncertainties, such as model inaccuracies or disturbances, an exact reconstruction of the observed state is not possible. As a first step in assessing the robustness of the proposed observer, we present an experimental verification of the observer’s performance. Furthermore, we account for dry friction in the observer design.

Copyright © 2018 by ASME

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