TY - GEN
T1 - Discrete-time velocity estimator based on sliding mode and adaptive windowing
AU - Jin, Shanhai
AU - Kikuuwe, Ryo
AU - Yamamoto, Motoji
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84874245623&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84874245623&partnerID=8YFLogxK
U2 - 10.1109/SII.2012.6426930
DO - 10.1109/SII.2012.6426930
M3 - Conference contribution
AN - SCOPUS:84874245623
SN - 9781467314961
T3 - 2012 IEEE/SICE International Symposium on System Integration, SII 2012
SP - 835
EP - 841
BT - 2012 IEEE/SICE International Symposium on System Integration, SII 2012
T2 - 2012 IEEE/SICE International Symposium on System Integration, SII 2012
Y2 - 16 December 2012 through 18 December 2012
ER -