High-order disturbance estimation using Kalman filter for precise reaction-torque control

Yuki Nagatsu, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This research proposed a high-order disturbance estimation using Kalman filter for precise reaction-torque control. The proposed method is able to realize the reaction torque control system by using the proportional-derivative controller. It is confirmed that the proposed proportional-derivative controller of reaction torque can improve control system performance without enhancing the noise effect. This is because estimated variables by the proposed Kalman filter based high order disturbance/reaction torque observer are utilized in the PD controller. The observer can estimate the disturbance/external torque and its time derivative with lower noise level than the conventional disturbance observers (DOBs) or reaction torque observers (RTOBs). Experimental results validate the proposed method.

Original languageEnglish
Title of host publication2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages79-84
Number of pages6
ISBN (Electronic)9781479984640
DOIs
Publication statusPublished - 2016 Jun 20
Event14th IEEE International Workshop on Advanced Motion Control, AMC 2016 - Auckland, New Zealand
Duration: 2016 Apr 222016 Apr 24

Other

Other14th IEEE International Workshop on Advanced Motion Control, AMC 2016
CountryNew Zealand
CityAuckland
Period16/4/2216/4/24

Fingerprint

Torque control
Kalman filters
Torque
Derivatives
Controllers
Control systems

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Nagatsu, Y., & Katsura, S. (2016). High-order disturbance estimation using Kalman filter for precise reaction-torque control. In 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016 (pp. 79-84). [7496331] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2016.7496331

High-order disturbance estimation using Kalman filter for precise reaction-torque control. / Nagatsu, Yuki; Katsura, Seiichiro.

2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 79-84 7496331.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nagatsu, Y & Katsura, S 2016, High-order disturbance estimation using Kalman filter for precise reaction-torque control. in 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016., 7496331, Institute of Electrical and Electronics Engineers Inc., pp. 79-84, 14th IEEE International Workshop on Advanced Motion Control, AMC 2016, Auckland, New Zealand, 16/4/22. https://doi.org/10.1109/AMC.2016.7496331
Nagatsu Y, Katsura S. High-order disturbance estimation using Kalman filter for precise reaction-torque control. In 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 79-84. 7496331 https://doi.org/10.1109/AMC.2016.7496331
Nagatsu, Yuki ; Katsura, Seiichiro. / High-order disturbance estimation using Kalman filter for precise reaction-torque control. 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 79-84
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