Integrated sensing/filtering design and application to flexible manipulators

This paper addresses the problem of making better use of increasingly available sensor resources toward improving filter performance. In particular, we show how to use different sensors in filter design that can simultaneously satisfy multiple performance specifications. A novel approach is taken in our design paradigm that integrates sensing strategy with the filter design, which weakens filtering performance limitations and conflicting constraints. An application to the estimation of the endpoint vibration rate of a flexible manipulator is presented with experimental verifications.