Abstract
This paper proposes a state estimation filter for detecting collisions with the flexible cantilevered-beam and obstacles. The beam is assumed to be subject to distributed random disturbance and unknown collision input. The purpose of the estimator is to detect the collision input and to estimate the strength of it. In this paper, a working model for the collision input in modal representation is considered for detection and estimation of the collision input and its strength. By applying the disturbance estimation technique, the state estimator for the collision input is constructed.
