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

Shanhai Jin, Ryo Kikuuwe, Motoji Yamamoto

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

2 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2012 IEEE/SICE International Symposium on System Integration, SII 2012
ページ835-841
ページ数7
DOI
出版ステータス出版済み - 2012
イベント2012 IEEE/SICE International Symposium on System Integration, SII 2012 - Fukuoka, 日本
継続期間: 12月 16 201212月 18 2012

その他

その他2012 IEEE/SICE International Symposium on System Integration, SII 2012
国/地域日本
CityFukuoka
Period12/16/1212/18/12

!!!All Science Journal Classification (ASJC) codes

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