High-order disturbance estimation using Kalman filter for precise reaction-torque control

Yuki Nagatsu, Seiichiro Katsura

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

This research proposed a high-order disturbance estimation using Kalman filter for precise reaction-torque control. The proposed method is able to realize the reaction torque control system by using the proportional-derivative controller. It is confirmed that the proposed proportional-derivative controller of reaction torque can improve control system performance without enhancing the noise effect. This is because estimated variables by the proposed Kalman filter based high order disturbance/reaction torque observer are utilized in the PD controller. The observer can estimate the disturbance/external torque and its time derivative with lower noise level than the conventional disturbance observers (DOBs) or reaction torque observers (RTOBs). Experimental results validate the proposed method.

本文言語English
ホスト出版物のタイトル2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ79-84
ページ数6
ISBN(電子版)9781479984640
DOI
出版ステータスPublished - 2016 6月 20
イベント14th IEEE International Workshop on Advanced Motion Control, AMC 2016 - Auckland, New Zealand
継続期間: 2016 4月 222016 4月 24

出版物シリーズ

名前2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016

Other

Other14th IEEE International Workshop on Advanced Motion Control, AMC 2016
国/地域New Zealand
CityAuckland
Period16/4/2216/4/24

ASJC Scopus subject areas

  • 制御およびシステム工学

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