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.
Original language | English |
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Pages (from-to) | 335-353 |
Number of pages | 19 |
Journal | Advanced Robotics |
Volume | 25 |
Issue number | 3 |
DOIs | |
Publication status | Published - 2011 Feb 1 |
Keywords
- Disturbance observer
- Kalman filter
- acceleration sensor
- linear encoder
- multisensor sys, em
- positionacceleration integrated disturbance observer
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Human-Computer Interaction
- Hardware and Architecture
- Computer Science Applications