- Title
- A reset kinematic state estimator to suppress sensor quantization for enhanced position tracking control
- Creator
- Zheng, Jinchuan; Fu, Minyue
- Relation
- 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
- http://dx.doi.org/10.1109/CDC.2009.5400208
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2009
- Description
- 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.
- Subject
- position control; signal quantisation; stability; state estimation; tracking
- Identifier
- uon:8692
- Identifier
- http://hdl.handle.net/1959.13/918712
- Identifier
- ISBN:9781424438723
- Rights
- Copyright © 2009 IEEE. Reprinted from the Proceedings of the 48th IEEE Conference on Decision and Control 2009, held jointly with the 28th Chinese Control Conference 2009, CDC/CCC 2009. 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 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.
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