Title :
A reset kinematic state estimator to suppress sensor quantization for enhanced position tracking control
Author :
Zheng, Jinchuan ; Fu, Minyue
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Univ. of Newcastle, Callaghan, NSW, Australia
Abstract :
Sensor quantization is one of the key factors that deteriorate the tracking performance of positioning systems with low-resolution optical encoders. This paper presents a reset kinematic state estimator (RKSE) by merging an accelerometer to improve the performance of such systems. The RKSE is immune to both system perturbations and input disturbances and offers more accurate state estimation than the standard state estimator (SSE) without reset. The estimated state is fed back for sinusoidal position tracking control. Experimental results demonstrate the improved tracking accuracy and the robustness with the use of RKSE.
Keywords :
position control; quantisation (signal); stability; state estimation; tracking; enhanced position tracking control; low-resolution optical encoders; positioning systems; reset kinematic state estimator; sensor quantization; sinusoidal position tracking control; standard state estimator; Acceleration; Accelerometers; Friction; Kinematics; Nonlinear optics; Optical feedback; Optical sensors; Quantization; Sensor systems; State estimation;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400208
