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Kalman Filter-Based Disturbance Observer and its Applications to Sensorless Force Control

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Abstract:

Force estimation plays a very important role in many application areas. The disturbance observer is significantly becoming the preferred approach since it offers distinct advantages of improving the robustness of force control and the accuracy of force estimation. However, one of the main disadvantages is the limitation from white Gaussian noise. This paper proposes an improved design methodology for the disturbance observer. The main contribution of the work described in this paper is the design of disturbance observers combined with a Kalman filter with a multisensor system. From the experimental results, white Gaussian noise was reduced and fast response in contact motion was achieved. The effectiveness of the proposed disturbance observer has been confirmed through comparisons with conventional methods in 1-d.o.f. linear motor systems.

Keywords: ACCELERATION SENSOR; DISTURBANCE OBSERVER; KALMAN FILTER; LINEAR ENCODER; MULTISENSOR SYSTEM; POSITION–ACCELERATION INTEGRATED DISTURBANCE OBSERVER

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/016918610X552141

Affiliations: 1: Nagaoka University of Technology, 1603-1 Kamitomioka-machi, Nagaoka-shi, Niigata 940-2188, Japan;, Email: chowarit@stn.nagaokaut.ac.jp 2: Nagaoka University of Technology, 1603-1 Kamitomioka-machi, Nagaoka-shi, Niigata 940-2188, Japan 3: Kagawa National College of Technology, 355 Chokushi-cho, Takamatsu, Kagawa 761-8058, Japan 4: Keio University, 3-14-1 Hiyoshi, Kouhoku-Ku, Yokohama, Kanagawa 223-8522, Japan

Publication date: February 1, 2011

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