@article{e10c0d9d63c34aadad716190ab846930,
title = "Kalman filter-based disturbance observer and its applications to sensorless force control",
abstract = "Force estimation plays a very important role in many application areas. The disturbance observer is significantly becoming the preferred approach since it offers distinct advantages of improving the robustness of force control and the accuracy of force estimation. However, one of the main disadvantages is the limitation from white Gaussian noise. This paper proposes an improved design methodology for the disturbance observer. The main contribution of the work described in this paper is the design of disturbance observers combined with a Kalman filter with a multisensor system. From the experimental results, white Gaussian noise was reduced and fast response in contact motion was achieved. The effectiveness of the proposed disturbance observer has been confirmed through comparisons with conventional methods in 1-d.o.f. linear motor systems.",
keywords = "Disturbance observer, Kalman filter, acceleration sensor, linear encoder, multisensor sys, em, positionacceleration integrated disturbance observer",
author = "Chowarit Mitsantisuk and Kiyoshi Ohishi and Shiro Urushihara and Seiichiro Katsura",
note = "Funding Information: Chowarit Mitsantisuk received the BS degree from Thammasat University, Pathumthani, Thailand, in 2003, and the MS degree in Electrical Engineering and DE degree in Energy and Environmental Science from Nagaoka University of Technology, Japan, in 2007 and 2010, respectively. At present, he is a Postdoc-toral Fellow of the Japan Society for the Promotion. His research interests include robot motion and force control, especially in application with human–robot in-teraction. He is a Student Member of the IEEE Industrial Electronics Society, the IEEJ, and the Society of Instrument and Control Engineers. He received the IECON{\textquoteright}09 IEEE Student Scholarship Award from the IEEE Industrial Electronics Society.",
year = "2011",
month = feb,
day = "1",
doi = "10.1163/016918610X552141",
language = "English",
volume = "25",
pages = "335--353",
journal = "Advanced Robotics",
issn = "0169-1864",
publisher = "Taylor and Francis Ltd.",
number = "3",
}