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 |
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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 |
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Country | United Kingdom |
City | Edinburgh, Scotland |
Period | 17/6/18 → 17/6/21 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering