Discrete-time velocity estimator based on sliding mode and adaptive windowing

Shanhai Jin, Ryo Kikuuwe, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In position control of mechatronic devices, velocity feedback is necessary for injecting additional damping to avoid low-frequency fluctuation around desired trajectories. In practice, velocity signal is often obtained by performing Euler discretization on position signal from an optical encoder. However, due to the limited encoder resolution, the obtained velocity signal is corrupted by high-frequency noise that may result in high-frequency vibration of the controlled device. This paper presents a discrete-time velocity estimator based on sliding mode and adaptive windowing for position control. Experimental results show that the presented estimator rather improves velocity feedback compared to a sliding mode filter by Jin et al. (2012), an adaptive windowing filter by Janabi-Sharifi et al. (2000), and the cascades of these two filters.

Original languageEnglish
Title of host publication2012 IEEE/SICE International Symposium on System Integration, SII 2012
Pages835-841
Number of pages7
DOIs
Publication statusPublished - 2012
Event2012 IEEE/SICE International Symposium on System Integration, SII 2012 - Fukuoka, Japan
Duration: Dec 16 2012Dec 18 2012

Other

Other2012 IEEE/SICE International Symposium on System Integration, SII 2012
CountryJapan
CityFukuoka
Period12/16/1212/18/12

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All Science Journal Classification (ASJC) codes

  • Information Systems

Cite this

Jin, S., Kikuuwe, R., & Yamamoto, M. (2012). Discrete-time velocity estimator based on sliding mode and adaptive windowing. In 2012 IEEE/SICE International Symposium on System Integration, SII 2012 (pp. 835-841). [6426930] https://doi.org/10.1109/SII.2012.6426930