The design and implementation of an accelerometer-assisted velocity observer

Lu, Yu; Liu, Sheng Hao

doi:10.1016/j.isatra.2015.09.001

Cited by 7 publications

(4 citation statements)

References 22 publications

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“…in which 1 c , 2 c and 3 c are constant design parameters (9) . The characteristic polynomial of the DCVO is…”

Section: Dynamically Compensated Velocity Observer (Dcvo)mentioning

confidence: 99%

Velocity Estimation Methods with Applications to Tracking Control of a Harmonic Drive System

Lu¹,

Lin²

2017

Proceedings of the 5th IIAE International Conference on Industrial Application Engineering 2017

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In this paper, the effects of velocity estimation on the tracking performance of a harmonic drive system are investigated. Harmonic drive gearing is an important element to precision motion systems that are needed to have lightweight. However, the harmonic drive gearing introduces compliance to the motion systems, and velocity feedback is required to increase system damping. In this paper, several nonmodel-based approaches to velocity estimation are revisited and practically applied to the tracking control of a harmonic drive system. Based on experimental results, their performance comparisons are done in terms of tracking precision and smoothness of estimation results.

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“…in which 1 c , 2 c and 3 c are constant design parameters (9) . The characteristic polynomial of the DCVO is…”

Section: Dynamically Compensated Velocity Observer (Dcvo)mentioning

confidence: 99%

Velocity Estimation Methods with Applications to Tracking Control of a Harmonic Drive System

Lu¹,

Lin²

2017

Proceedings of the 5th IIAE International Conference on Industrial Application Engineering 2017

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“…The SSVO can be described as in which x and v, respectively, denote the estimated position and velocity, and l 1 and l 2 are constant observer gains. The characteristic equation for this second-order SSVO is s 2 + l 1 s + l 2 = 0 [9]. Therefore, the observer gains, l 1 and l 2 , are designed using the pole-assignment technique.…”

Section: Acceleration-enhanced Velocity Estimation Algorithms 21 Revmentioning

confidence: 99%

“…in which c 1 , c 2 , and c 3 are constant design parameters. It is shown that the characteristic equation for this DCVO is s 3 + c 3 s 2 + c 2 s + c 1 = 0 [9]. As with the SSVO, the observer gains, c 1 , c 2 , and c 3 , are designed using the poleassignment technique.…”

Section: Revisiting Of the Dynamically Compensated Velocity Observer mentioning

confidence: 99%

“…This paper focuses on several velocity estimation algorithms that use the acceleration signal. These algorithms include the state-space velocity observer (SSVO) [6,13], the dynamically compensated velocity observer (DCVO) [9], the tracking differentiator (TD), and a differentiator that uses the super-twisting algorithm (STA). The SSVO and the DCVO are revisited in this paper.…”

Section: Introductionmentioning

confidence: 99%

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Experimental evaluation of acceleration-enhanced velocity estimation algorithms using a linear motion stage

Lee

2016

J Braz. Soc. Mech. Sci. Eng.

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List of symbols a Acceleration, m/s 2 c i Parameter of the DCVO, i = 1, 2, 3 C i Positive constant for tuning the STA, i = 1, 2 d Uncertain input disturbance to the plant D Dynamic compensator of the DCVO e Positional tracking error, m g Input gain of the plant h Viscous coefficient of the plant k i Parameter related to a switching function in the SMC, i = 1, 2, 3 K i Switching gain in the SMC, i = 1, 2 l i Parameter of the SSVO, i = 1, 2 r Positional reference, m u Plant's torque-producing input, V v Velocity, m/s x Position, m Greek symbols α Parameter of the STA ε Positional estimation error γ Parameter of the TD ξ Correction term in the DCVO Parameter of the STA ω dc Parameter for tuning the DCVO ω n Parameter for tuning the SMC ω ss Parameter for tuning the SSVO σ Switching function in the SMC Subscripts 0 Relative to initial condition m Relative to measurement

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A novel linear tracking integrator with integral compensation and its application

Shao

Wang

et al. 2017

ISA Transactions

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The design and implementation of an accelerometer-assisted velocity observer

Cited by 7 publications

References 22 publications

Velocity Estimation Methods with Applications to Tracking Control of a Harmonic Drive System

Velocity Estimation Methods with Applications to Tracking Control of a Harmonic Drive System

Experimental evaluation of acceleration-enhanced velocity estimation algorithms using a linear motion stage

A novel linear tracking integrator with integral compensation and its application

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