An application of EKF for the position control of a single link arm

O. Seta Bogosyan; Metin Gokasan; Chingiz Hajiyev

An application of EKF for the position control of a single link arm

O. Seta Bogosyan^*
, Metin Gokasan
, Chingiz Hajiyev

^*Corresponding author for this work

Istanbul Technical University

Research output: Contribution to conference › Paper › peer-review

15 Citations (Scopus)

Abstract

This study is on the development of an Extended Kalman filter (EKF) used in conjunction with a simple PD+ controller for the position control of a direct drive system (DDS). The DDS consists of, specially, a single link arm driven by a permanent magnet synchronous motor (PMSM) and controlled by a DSP32 based motion control unit. The EKF is used to estimate the angular position and velocity, beside the total inertia of the system, which is used to calculate the load information for the PD+ controller. The estimation algorithm is based on the Bayes method known for its high accuracy. Precision being the main objective of the study, the control input error usually ignored in past literature is also take into account in the filter design. The control method thus developed demonstrates an improved performance over the classical PID in terms of accuracy and robustness through simulations and experiments that were carried out.

Original language	English
Pages	564-569
Number of pages	6
Publication status	Published - 2001
Event	27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO, United States Duration: 29 Nov 2001 → 2 Dec 2001

Conference

Conference	27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001
Country/Territory	United States
City	Denver, CO
Period	29/11/01 → 2/12/01

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Cite this

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title = "An application of EKF for the position control of a single link arm",

abstract = "This study is on the development of an Extended Kalman filter (EKF) used in conjunction with a simple PD+ controller for the position control of a direct drive system (DDS). The DDS consists of, specially, a single link arm driven by a permanent magnet synchronous motor (PMSM) and controlled by a DSP32 based motion control unit. The EKF is used to estimate the angular position and velocity, beside the total inertia of the system, which is used to calculate the load information for the PD+ controller. The estimation algorithm is based on the Bayes method known for its high accuracy. Precision being the main objective of the study, the control input error usually ignored in past literature is also take into account in the filter design. The control method thus developed demonstrates an improved performance over the classical PID in terms of accuracy and robustness through simulations and experiments that were carried out.",

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T1 - An application of EKF for the position control of a single link arm

AU - Bogosyan, O. Seta

AU - Gokasan, Metin

AU - Hajiyev, Chingiz

PY - 2001

Y1 - 2001

N2 - This study is on the development of an Extended Kalman filter (EKF) used in conjunction with a simple PD+ controller for the position control of a direct drive system (DDS). The DDS consists of, specially, a single link arm driven by a permanent magnet synchronous motor (PMSM) and controlled by a DSP32 based motion control unit. The EKF is used to estimate the angular position and velocity, beside the total inertia of the system, which is used to calculate the load information for the PD+ controller. The estimation algorithm is based on the Bayes method known for its high accuracy. Precision being the main objective of the study, the control input error usually ignored in past literature is also take into account in the filter design. The control method thus developed demonstrates an improved performance over the classical PID in terms of accuracy and robustness through simulations and experiments that were carried out.

AB - This study is on the development of an Extended Kalman filter (EKF) used in conjunction with a simple PD+ controller for the position control of a direct drive system (DDS). The DDS consists of, specially, a single link arm driven by a permanent magnet synchronous motor (PMSM) and controlled by a DSP32 based motion control unit. The EKF is used to estimate the angular position and velocity, beside the total inertia of the system, which is used to calculate the load information for the PD+ controller. The estimation algorithm is based on the Bayes method known for its high accuracy. Precision being the main objective of the study, the control input error usually ignored in past literature is also take into account in the filter design. The control method thus developed demonstrates an improved performance over the classical PID in terms of accuracy and robustness through simulations and experiments that were carried out.

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M3 - Paper

AN - SCOPUS:0035692934

SP - 564

EP - 569

T2 - 27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001

Y2 - 29 November 2001 through 2 December 2001

ER -

An application of EKF for the position control of a single link arm

Abstract

Conference

UN SDGs

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