Kalman filter based equivalent elastic force feedback for time-delay compensation

Yuki Nagatsu, Seiichiro Katsura

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルProceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017
出版者Institute of Electrical and Electronics Engineers Inc.
ページ1741-1746
ページ数6
ISBN(電子版)9781509014125
DOI
出版物ステータスPublished - 2017 8 3
イベント26th IEEE International Symposium on Industrial Electronics, ISIE 2017 - Edinburgh, Scotland, United Kingdom
継続期間: 2017 6 182017 6 21

Other

Other26th IEEE International Symposium on Industrial Electronics, ISIE 2017
United Kingdom
Edinburgh, Scotland
期間17/6/1817/6/21

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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  • これを引用

    Nagatsu, Y., & Katsura, S. (2017). Kalman filter based equivalent elastic force feedback for time-delay compensation. : Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017 (pp. 1741-1746). [8001511] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2017.8001511