- Title
- A reset state estimator using an accelerometer for enhanced motion control with sensor quantization
- Creator
- Zheng, Jinchuan; Fu, Minyue
- Relation
- IEEE Transactions on Control Systems Technology Vol. 18, Issue 1, p. 79-90
- Publisher Link
- http://dx.doi.org/10.1109/TCST.2009.2014467
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- journal article
- Date
- 2010
- Description
- 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.
- Subject
- disturbance observer; high precision tracking control; reset state estimation; sensor quantization
- Identifier
- http://hdl.handle.net/1959.13/927858
- Identifier
- uon:10272
- Identifier
- ISSN:1063-6536
- Rights
- Copyright © 2010 IEEE. Reprinted from IEEE Transactions on Control Systems Technology Vol. 18, Issue 1, p. 79-90. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Newcastle's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
- Language
- eng
- Full Text
- Reviewed
- Hits: 1711
- Visitors: 1979
- Downloads: 303
| Thumbnail | File | Description | Size | Format | |||
|---|---|---|---|---|---|---|---|
| View Details Download | ATTACHMENT01 | Publisher version (open access) | 1 MB | Adobe Acrobat PDF | View Details Download |