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Please use this identifier to cite or link to this item: http://hdl.handle.net/1959.13/927858
- A reset state estimator using an accelerometer for enhanced motion control with sensor quantization
- The University of Newcastle. Faculty of Engineering & Built Environment, School of Electrical Engineering and Computer Science
- Sensor quantization is a key factor that deteriorates the tracking performance of positioning systems with low-resolution optical encoders. This paper presents a method to improve the performance of such systems by merging an accelerometer of low cost. First, to reject the external disturbance, friction force and system perturbations, we design a disturbance observer (DOB) based on acceleration signals. Second, a reset kinematic state estimator (RKSE) is designed using acceleration signals to make the state estimate immune to both system perturbations and input disturbances. Third, a state feedback controller is designed based on the internal model principle (IMP) for accurate sinusoidal reference tracking. Simulations and experimental results are used to demonstrate the effectiveness of the proposed control method for tracking position reference commands and its robustness to system uncertainties.
- IEEE Transactions on Control Systems Technology Vol. 18, Issue 1, p. 79-90
- Publisher Link
- Institute of Electrical and Electronics Engineers (IEEE)
high precision tracking control;
reset state estimation;
- Resource Type
- journal article
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