Apply nonlinear filter ESDS to quantized sensor data

Takanori Emaru, Ryou Sase, Yohei Hoshino, Yukinori Kobayashi
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Proportional-Integral-Derivative (PID) control is widely used to control mechanical systems. In PID control technique, however, there are limits to the accuracy of the resulting movement because of the influence of gravity, friction, and interaction of joints caused by modeling errors. Digital acceleration control has robustness for the modeling errors. But it requires position, velocity, and acceleration of a controlled object to construct a controller. In this paper, we use the novel digital
more » ... the novel digital differentiator, ESDS. It enables digital acceleration control without increasing the number of sensors. Furthermore, the proposed method works effectively for quantized sensor data. The validity of the proposed method is confirmed by simulations and experiments using 2-link manipulator.
doi:10.1109/iros.2009.5354385 dblp:conf/iros/EmaruSHK09 fatcat:laxwckyjwzcchfy4lcc2gqsfba