Title :
Disturbance state distinction algorithm and its application to estimation of time delay with inertia error
Author :
Oh, Sehoon ; Hori, Yoichi
Author_Institution :
Sch. of Eng., Univ. of Tokyo, Tokyo
Abstract :
This paper proposes a novel algorithm to detect information of time delay and inertia errors of the nominal model in the disturbance observer. The proposed method adopts the hidden Markov model to relate the states causing disturbances with the observed disturbances. Output distribution of the hidden disturbance state can be defined based on the relationship between the observed disturbance and time delay/inertia errors. The proposed algorithm is compared with the Interacting Multiple Model algorithm. Simulation results verify effectiveness and properties of the proposed algorithm.
Keywords :
control system synthesis; delays; hidden Markov models; learning systems; observers; control design; detect information; disturbance observer; disturbance state distinction algorithm; hidden Markov model; hidden disturbance state; inertia error; learning algorithm; time delay estimation; Control design; Delay effects; Delay estimation; Error correction; Force control; Force sensors; Hidden Markov models; Industrial control; Motion control; State estimation;
Conference_Titel :
Industrial Electronics, 2008. IECON 2008. 34th Annual Conference of IEEE
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-4244-1767-4
Electronic_ISBN :
1553-572X
DOI :
10.1109/IECON.2008.4758354