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

Yuki Nagatsu, Seiichiro Katsura

研究成果: Conference contribution

抜粋

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.

元の言語English
ホスト出版物のタイトル2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
DOI
出版物ステータスPublished - 2013 8 22
イベント2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
継続期間: 2013 5 282013 5 31

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
Taiwan, Province of China
Taipei
期間13/5/2813/5/31

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. (2013). Scaled bilateral control using Kalman Filter based state estimation for reduction of noise effect. : 2013 IEEE International Symposium on Industrial Electronics, ISIE 2013 [6563800] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2013.6563800