Title :
Differential filters in control systems - manipulator
Author_Institution :
Fac. of Mechatron. & Mech. Eng., Kielce Univ. of Technol., Kielce, Poland
Abstract :
The paper discusses the use of differential filters in control algorithms. The filters are designed to determine the derivatives of the input signal and eliminate measuring and quantization noise. The differential filters improved the quality of control, with the results being better than those obtained with the classic Finite Difference Method (FDM). The primary purpose of the study was to employ the differential filters in a real-time control algorithm, which requires appropriate derivatives. The control process involved applying a method of aggregation of state variables, based on signal derivatives, which can be used for non-linear dynamic systems. The experiments were conducted on a test stand with a manipulator equipped with an electric drive acting as the plant to be controlled.
Keywords :
filtering theory; finite difference methods; nonlinear dynamical systems; signal denoising; FDM; control algorithms; control process; control systems; differential filters; filters design; finite difference method; input signal derivatives; manipulator; measuring noise elimination; nonlinear dynamic systems; quality of control; quantization noise elimination; real-time control algorithm; state variables; Filtration; Integrated optics; TV; Torque; differential filters; on-line filters; robust control;
Conference_Titel :
Carpathian Control Conference (ICCC), 2015 16th International
Conference_Location :
Szilvasvarad
Print_ISBN :
978-1-4799-7369-9
DOI :
10.1109/CarpathianCC.2015.7145049
