Moving Horizon Observer for vibration dynamics with plant uncertainties in nanopositioning system estimation

Author

Poloni, Tomas ; Eielsen, Arnfinn A. ; Rohal´-Ilkiv, B. ; Johansen, Tor Arne

Author_Institution

Inst. of Autom., Meas. & Appl. Inf., Slovak Univ. of Technol., Bratislava, Slovakia

fYear

2012

fDate

27-29 June 2012

Firstpage

3817

Lastpage

3824

Abstract

This paper considers the estimation of states and parameters of a Single-Degree-of-Freedom (SDOF) vibration model in nanopositioning system based on a nonlinear Moving Horizon Observer (MHO). The MHO is experimentally tested and verified on measured data. The information about the displacement and speed together with the system parameters and unmodeled force disturbance is estimated through the Sequential Quadratic Programming (SQP) optimization procedure. The MHO provided superior performance in comparison with the benchmark method Extended Kalman Filter (EKF) in terms of faster convergence.

Keywords

Kalman filters; nanopositioning; nonlinear systems; observers; quadratic programming; vibration control; MHO; extended Kalman filter; nanopositioning system; nonlinear moving horizon observer; plant uncertainties; sequential quadratic programming optimization procedure; single-degree-of-freedom vibration model; unmodeled force disturbance; vibration dynamics; Covariance matrix; Equations; Force; Mathematical model; Noise; Vectors; Vibrations;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2012

Conference_Location

Montreal, QC

ISSN

0743-1619

Print_ISBN

978-1-4577-1095-7

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2012.6314603

Filename

6314603