TY - GEN
T1 - Kalman filter based equivalent elastic force feedback for time-delay compensation
AU - Nagatsu, Yuki
AU - Katsura, Seiichiro
N1 - Funding Information:
This work was partially supported by Internal Affairs and Communications, Strategic Information and Communications RD Promotion Programme (SCOPE), 151203009, 2017.
Publisher Copyright:
© 2017 IEEE.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2017/8/3
Y1 - 2017/8/3
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85029906151&partnerID=8YFLogxK
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U2 - 10.1109/ISIE.2017.8001511
DO - 10.1109/ISIE.2017.8001511
M3 - Conference contribution
AN - SCOPUS:85029906151
T3 - IEEE International Symposium on Industrial Electronics
SP - 1741
EP - 1746
BT - Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 26th IEEE International Symposium on Industrial Electronics, ISIE 2017
Y2 - 18 June 2017 through 21 June 2017
ER -