Scaled bilateral control using Kalman Filter based state estimation for reduction of noise effect

Yuki Nagatsu, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

In this research, a novel structure of scaled bilateral control for reduction of noise effects is proposed. DOB (Disturbance Observer) and RFOB (Reaction Force Observer) are important factors of bilateral control systems to construct a robust acceleration control system. However, accuracy of force estimation is deteriorated if resolutions of a position encoder are low. Quantization noise is enhanced in the scaled bilateral control system and performance of the DOB and RFOB are deteriorated as the case in which encoder resolutions are low. To reduce effects of enhanced quantization noise, force and position information is estimated by Kalman Filter based State Observer (KFSO). By using the proposed structure, position and force responses are appropriately satisfied and system become stable, even if the scaling factors are larger than the one used in a conventional structure with DOB and RFOB. The validity of proposal is confirmed by experiments.

Original languageEnglish
Title of host publication2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
DOIs
Publication statusPublished - 2013 Aug 22
Event2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
Duration: 2013 May 282013 May 31

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
CountryTaiwan, Province of China
CityTaipei
Period13/5/2813/5/31

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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