A reset kinematic state estimator to suppress sensor quantization for enhanced position tracking control

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.