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Title

A reset state estimator using an accelerometer for enhanced motion control with sensor quantization

Author(s)

Zheng, Jinchuan;  Fu, Minyue

Abstract

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.

Publication type

Journal article

Source

IEEE Transactions on Control Systems Technology, Vol. 18, no. 1 (Jan 2010), pp. 79-90

Publication year

2010

FOR Code(s)

0102 Applied Mathematics;  0906 Electrical and Electronic Engineering

Keyword(s)

Acceleration signals;  Accelerometers;  Control methods;  Disturbance observer;  Estimation;  External disturbances;  Feedback;  Friction force;  High precision tracking control;  Input disturbance;  Internal model principle;  Low costs;  Navigation;  Optical encoder;  Positioning system;  Reset state estimation;  Sensor quantisation;  Sensors;  State estimation;  State feedback controller;  System perturbation;  System uncertainties;  Tracking performance

Publisher

IEEE

ISSN

1063-6536

Publisher URL

http://dx.doi.org/10.1109/tcst.2009.2014467

Copyright

Copyright © 2010 IEEE. The published version is reproduced in accordance with the copyright policy of the publisher. 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 to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

Full text

Peer reviewed