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 language | English |
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| Title of host publication | 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 79-84 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781479984640 |
| DOIs | |
| Publication status | Published - 2016 Jun 20 |
| Event | 14th IEEE International Workshop on Advanced Motion Control, AMC 2016 - Auckland, New Zealand Duration: 2016 Apr 22 → 2016 Apr 24 |
Other
| Other | 14th IEEE International Workshop on Advanced Motion Control, AMC 2016 |
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| Country | New Zealand |
| City | Auckland |
| Period | 16/4/22 → 16/4/24 |
ASJC Scopus subject areas
- Control and Systems Engineering