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Please use this identifier to cite or link to this item: http://hdl.handle.net/1959.13/918712
- A reset kinematic state estimator to suppress sensor quantization for enhanced position tracking control
- The University of Newcastle. Faculty of Engineering & Built Environment, School of Electrical Engineering and Computer Science
- Sensor quantization is one of the key factors that deteriorate the tracking performance of positioning systems with low-resolution optical encoders. This paper presents a reset kinematic state estimator (RKSE) by merging an accelerometer to improve the performance of such systems. The RKSE is immune to both system perturbations and input disturbances and offers more accurate state estimation than the standard state estimator (SSE) without reset. The estimated state is fed back for sinusoidal position tracking control. Experimental results demonstrate the improved tracking accuracy and the robustness with the use of RKSE.
- 48th IEEE Conference on Decision and Control, 2009 held jointly with the 28th Chinese Control Conference, 2009 (CDC/CCC 2009). Proceedings of the 48th IEEE Conference on Decision and Control 2009, held jointly with the 28th Chinese Control Conference 2009, CDC/CCC 2009 (Shanghai, China 15-18 December, 2009) p. 8059-8064
- Publisher Link
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
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