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

Yuki Nagatsu, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017
出版社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

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other26th IEEE International Symposium on Industrial Electronics, ISIE 2017
国/地域United Kingdom
CityEdinburgh, Scotland
Period17/6/1817/6/21

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学

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