Kalman filter based equivalent elastic force feedback for time-delay compensation

Yuki Nagatsu, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

This research proposes a Kalman filter-based equivalent elastic force feedback approach for time-delay compensation. This research shows that the time-varying delay can be regarded as noise in the input and output signals. In order to achieve robustness, this research proposes a Kalman filter-based state observer (KFSO) in the time-delay system for the estimation and the compensation of the disturbance forces without enhancing the effect of the time-varying delay. Furthermore, the state variables estimated by the KFSO are combined with the equivalent elastic force feedback in the time-delay system in order to improve the stability. Although the robustness of conventional time-delay compensation methods deteriorate during disturbances, the proposed method can retain stability while maintaining the robustness without enhancing the noise effects caused by the time-varying delay. The proposed method is validated by experimental results.

Original languageEnglish
Title of host publicationProceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1741-1746
Number of pages6
ISBN (Electronic)9781509014125
DOIs
Publication statusPublished - 2017 Aug 3
Event26th IEEE International Symposium on Industrial Electronics, ISIE 2017 - Edinburgh, Scotland, United Kingdom
Duration: 2017 Jun 182017 Jun 21

Other

Other26th IEEE International Symposium on Industrial Electronics, ISIE 2017
CountryUnited Kingdom
CityEdinburgh, Scotland
Period17/6/1817/6/21

Fingerprint

Kalman filters
Time delay
Feedback
Robustness (control systems)
Compensation and Redress

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Nagatsu, Y., & Katsura, S. (2017). Kalman filter based equivalent elastic force feedback for time-delay compensation. In Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017 (pp. 1741-1746). [8001511] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2017.8001511

Kalman filter based equivalent elastic force feedback for time-delay compensation. / Nagatsu, Yuki; Katsura, Seiichiro.

Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1741-1746 8001511.

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

Nagatsu, Y & Katsura, S 2017, Kalman filter based equivalent elastic force feedback for time-delay compensation. in Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017., 8001511, Institute of Electrical and Electronics Engineers Inc., pp. 1741-1746, 26th IEEE International Symposium on Industrial Electronics, ISIE 2017, Edinburgh, Scotland, United Kingdom, 17/6/18. https://doi.org/10.1109/ISIE.2017.8001511
Nagatsu Y, Katsura S. Kalman filter based equivalent elastic force feedback for time-delay compensation. In Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1741-1746. 8001511 https://doi.org/10.1109/ISIE.2017.8001511
Nagatsu, Yuki ; Katsura, Seiichiro. / Kalman filter based equivalent elastic force feedback for time-delay compensation. Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1741-1746
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