Position and Velocity Estimation for Two-Inertia System with Nonlinear Stiffness Based on Acceleration Sensor
In this paper, we consider the state estimation problem for flexible joint manipulators that involve nonlinear characteristics in their stiffness. The two key ideas of our design are that (a) an accelerometer is used in order that the estimation error dynamics do not depend on nonlinearities at the...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2015-12-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/16/1/49 |
| _version_ | 1818013219968516096 |
|---|---|
| author | Kyung-Tae Nam Seung-Joon Lee Tae-Yong Kuc Hyungjong Kim |
| author_facet | Kyung-Tae Nam Seung-Joon Lee Tae-Yong Kuc Hyungjong Kim |
| author_sort | Kyung-Tae Nam |
| collection | DOAJ |
| description | In this paper, we consider the state estimation problem for flexible joint manipulators that involve nonlinear characteristics in their stiffness. The two key ideas of our design are that (a) an accelerometer is used in order that the estimation error dynamics do not depend on nonlinearities at the link part of the manipulators and (b) the model of the nonlinear stiffness is indeed a Lipschitz function. Based on the measured acceleration, we propose a nonlinear observer under the Lipschitz condition of the nonlinear stiffness. In addition, in order to effectively compensate for the estimation error, the gain of the proposed observer is chosen from the ARE (algebraic Riccati equations) which depend on the Lipschitz constant. Comparative experimental results verify the effectiveness of the proposed method. |
| first_indexed | 2024-04-14T06:30:24Z |
| format | Article |
| id | doaj.art-18bd94a38bd7480d8427923e67fa2547 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-14T06:30:24Z |
| publishDate | 2015-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-18bd94a38bd7480d8427923e67fa25472022-12-22T02:07:38ZengMDPI AGSensors1424-82202015-12-011614910.3390/s16010049s16010049Position and Velocity Estimation for Two-Inertia System with Nonlinear Stiffness Based on Acceleration SensorKyung-Tae Nam0Seung-Joon Lee1Tae-Yong Kuc2Hyungjong Kim3Department of Electronic Engineering, Sungkyunkwan Univerity, Suwon 440-746, KoreaKorea Institute of Industrial Technology, Ansan 426-171, KoreaDepartment of Electronic Engineering, Sungkyunkwan Univerity, Suwon 440-746, KoreaKorea Institute of Industrial Technology, Ansan 426-171, KoreaIn this paper, we consider the state estimation problem for flexible joint manipulators that involve nonlinear characteristics in their stiffness. The two key ideas of our design are that (a) an accelerometer is used in order that the estimation error dynamics do not depend on nonlinearities at the link part of the manipulators and (b) the model of the nonlinear stiffness is indeed a Lipschitz function. Based on the measured acceleration, we propose a nonlinear observer under the Lipschitz condition of the nonlinear stiffness. In addition, in order to effectively compensate for the estimation error, the gain of the proposed observer is chosen from the ARE (algebraic Riccati equations) which depend on the Lipschitz constant. Comparative experimental results verify the effectiveness of the proposed method.http://www.mdpi.com/1424-8220/16/1/49flexible joint manipulatorsstate estimationaccelerationnonlinear stiffnessLipschitz constantFPD transfer robot |
| spellingShingle | Kyung-Tae Nam Seung-Joon Lee Tae-Yong Kuc Hyungjong Kim Position and Velocity Estimation for Two-Inertia System with Nonlinear Stiffness Based on Acceleration Sensor Sensors flexible joint manipulators state estimation acceleration nonlinear stiffness Lipschitz constant FPD transfer robot |
| title | Position and Velocity Estimation for Two-Inertia System with Nonlinear Stiffness Based on Acceleration Sensor |
| title_full | Position and Velocity Estimation for Two-Inertia System with Nonlinear Stiffness Based on Acceleration Sensor |
| title_fullStr | Position and Velocity Estimation for Two-Inertia System with Nonlinear Stiffness Based on Acceleration Sensor |
| title_full_unstemmed | Position and Velocity Estimation for Two-Inertia System with Nonlinear Stiffness Based on Acceleration Sensor |
| title_short | Position and Velocity Estimation for Two-Inertia System with Nonlinear Stiffness Based on Acceleration Sensor |
| title_sort | position and velocity estimation for two inertia system with nonlinear stiffness based on acceleration sensor |
| topic | flexible joint manipulators state estimation acceleration nonlinear stiffness Lipschitz constant FPD transfer robot |
| url | http://www.mdpi.com/1424-8220/16/1/49 |
| work_keys_str_mv | AT kyungtaenam positionandvelocityestimationfortwoinertiasystemwithnonlinearstiffnessbasedonaccelerationsensor AT seungjoonlee positionandvelocityestimationfortwoinertiasystemwithnonlinearstiffnessbasedonaccelerationsensor AT taeyongkuc positionandvelocityestimationfortwoinertiasystemwithnonlinearstiffnessbasedonaccelerationsensor AT hyungjongkim positionandvelocityestimationfortwoinertiasystemwithnonlinearstiffnessbasedonaccelerationsensor |