Macro-micro bilateral control using Kalman filter based state observer for noise reduction and decoupling of modal space

Yuki Nagatsu, Seiichiro Katsura

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

4 Citations (Scopus)

Abstract

In this research, a novel structure of macro - micro bilateral control for reduction of quantization noise and interference in the modal space is proposed. Macro-micro manipulation is needed for various fields such as minimally invasive surgery and investigations. Scaled bilateral control is one of key technology for micro manipulation. However, performance of scaled macro-micro bilateral control is deteriorated because of enlarged quantization noise and interference between force and position control. In this research, Kalman Filter base State Observer is extended and constructed in the common and differential modal space in order to reduce effects of enhanced quantization noise which is enlarged by scaling factor. In addition, interference and disturbance are eliminated by using a structure based on a disturbance observer. Validity of proposal is confirmed by simulations and an experiment.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages4192-4197
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: 2013 Nov 102013 Nov 14

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period13/11/1013/11/14

Keywords

  • Bilateral control
  • Decoupling control
  • Disturbance observer
  • Kalman filter
  • Micro manipuration
  • Modal space
  • Scaled bilateral control
  • State observer

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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