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Sensors 2016, 16(1), 49; doi:10.3390/s16010049

Position and Velocity Estimation for Two-Inertia System with Nonlinear Stiffness Based on Acceleration Sensor

1
Department of Electronic Engineering, Sungkyunkwan Univerity, Suwon 440-746, Korea
2
Korea Institute of Industrial Technology, Ansan 426-171, Korea
3
ASRI, Department of Electrical and Computer Engineering, Seoul National University, Seoul 151-744, Korea
*
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 27 October 2015 / Revised: 21 December 2015 / Accepted: 24 December 2015 / Published: 31 December 2015
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [927 KB, uploaded 31 December 2015]   |  

Abstract

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. View Full-Text
Keywords: flexible joint manipulators; state estimation; acceleration; nonlinear stiffness; Lipschitz constant; FPD transfer robot flexible joint manipulators; state estimation; acceleration; nonlinear stiffness; Lipschitz constant; FPD transfer robot
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Nam, K.-T.; Lee, S.-J.; Kuc, T.-Y.; Kim, H. Position and Velocity Estimation for Two-Inertia System with Nonlinear Stiffness Based on Acceleration Sensor. Sensors 2016, 16, 49.

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