A Reset state estimator using an accelerometer for enhanced motion control with sensor quantization / Jinchuan Zheng in IEEE Transactions on control systems technology, Vol. 18 N° 1 (Janvier 2010)  

Public ISBD [article]  inIEEE Transactions on control systems technology > Vol. 18 N° 1 (Janvier 2010) . - pp. 79-90 Titre : A Reset state estimator using an accelerometer for enhanced motion control with sensor quantization Type de document : texte imprimé Auteurs : Jinchuan Zheng, Auteur ; Minyue Fu, Auteur Année de publication : 2011 Article en page(s) : pp. 79-90 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Disturbance observer High precision tracking control Reset state estimation Sensor quantization Index. décimale : 629.1 Résumé : 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. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4804671 [article] A Reset state estimator using an accelerometer for enhanced motion control with sensor quantization [texte imprimé] / Jinchuan Zheng, Auteur ; Minyue Fu, Auteur . - 2011 . - pp. 79-90. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 1 (Janvier 2010) . - pp. 79-90 Mots-clés : Disturbance observer High precision tracking control Reset state estimation Sensor quantization Index. décimale : 629.1 Résumé : 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. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4804671

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