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

Yuki Nagatsu; Seiichiro Katsura

doi:10.1109/AMC.2016.7496331

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

Yuki Nagatsu, Seiichiro Katsura

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	79-84
Number of pages	6
ISBN (Electronic)	9781479984640
DOIs	https://doi.org/10.1109/AMC.2016.7496331
Publication status	Published - 2016 Jun 20
Event	14th IEEE International Workshop on Advanced Motion Control, AMC 2016 - Auckland, New Zealand Duration: 2016 Apr 22 → 2016 Apr 24

Publication series

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

Other

Other	14th IEEE International Workshop on Advanced Motion Control, AMC 2016
Country/Territory	New Zealand
City	Auckland
Period	16/4/22 → 16/4/24

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/AMC.2016.7496331

Cite this

Nagatsu, Y., & Katsura, S. (2016). High-order disturbance estimation using Kalman filter for precise reaction-torque control. In 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016 (pp. 79-84). Article 7496331 (2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2016.7496331

High-order disturbance estimation using Kalman filter for precise reaction-torque control. / Nagatsu, Yuki; Katsura, Seiichiro.
2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 79-84 7496331 (2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nagatsu, Y & Katsura, S 2016, High-order disturbance estimation using Kalman filter for precise reaction-torque control. in 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016., 7496331, 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016, Institute of Electrical and Electronics Engineers Inc., pp. 79-84, 14th IEEE International Workshop on Advanced Motion Control, AMC 2016, Auckland, New Zealand, 16/4/22. https://doi.org/10.1109/AMC.2016.7496331

Nagatsu Y, Katsura S. High-order disturbance estimation using Kalman filter for precise reaction-torque control. In 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 79-84. 7496331. (2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016). doi: 10.1109/AMC.2016.7496331

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AB - 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.

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

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