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 language | English |
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Title of host publication | 2012 IEEE/SICE International Symposium on System Integration, SII 2012 |
Pages | 835-841 |
Number of pages | 7 |
DOIs | |
Publication status | Published - 2012 |
Event | 2012 IEEE/SICE International Symposium on System Integration, SII 2012 - Fukuoka, Japan Duration: Dec 16 2012 → Dec 18 2012 |
Other
Other | 2012 IEEE/SICE International Symposium on System Integration, SII 2012 |
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Country/Territory | Japan |
City | Fukuoka |
Period | 12/16/12 → 12/18/12 |
All Science Journal Classification (ASJC) codes
- Information Systems