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 language | English |
|---|---|
| Title of host publication | Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1741-1746 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509014125 |
| DOIs | |
| Publication status | Published - 2017 Aug 3 |
| Event | 26th IEEE International Symposium on Industrial Electronics, ISIE 2017 - Edinburgh, Scotland, United Kingdom Duration: 2017 Jun 18 → 2017 Jun 21 |
Other
| Other | 26th IEEE International Symposium on Industrial Electronics, ISIE 2017 |
|---|---|
| Country | United Kingdom |
| City | Edinburgh, Scotland |
| Period | 17/6/18 → 17/6/21 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Kalman filter based equivalent elastic force feedback for time-delay compensation
AU - Nagatsu, Yuki
AU - Katsura, Seiichiro
PY - 2017/8/3
Y1 - 2017/8/3
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85029906151&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85029906151&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2017.8001511
DO - 10.1109/ISIE.2017.8001511
M3 - Conference contribution
AN - SCOPUS:85029906151
SP - 1741
EP - 1746
BT - Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017
PB - Institute of Electrical and Electronics Engineers Inc.
ER -