TY - GEN
T1 - High-order disturbance estimation using Kalman filter for precise reaction-torque control
AU - Nagatsu, Yuki
AU - Katsura, Seiichiro
N1 - Funding Information:
This work was partially supported by JSPS KAKENHI Grant Number 15H02236.
Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/20
Y1 - 2016/6/20
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84982792263&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84982792263&partnerID=8YFLogxK
U2 - 10.1109/AMC.2016.7496331
DO - 10.1109/AMC.2016.7496331
M3 - Conference contribution
AN - SCOPUS:84982792263
T3 - 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
SP - 79
EP - 84
BT - 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th IEEE International Workshop on Advanced Motion Control, AMC 2016
Y2 - 22 April 2016 through 24 April 2016
ER -