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Control of Position, Velocity and Acceleration of Actuators Using Optimal State Estimation

Control of Position, Velocity and Acceleration of Actuators Using Optimal State Estimation AbstractIn order to improve performance of closed loop control and achieve highly accurate reference trajectory tracking, motion controllers have to utilize the advanced control and system state estimation algorithms. Classical PID (Proportional-Integral-Derivative) controller includes calculation of derivation of a process value in order to achieve system desired performance of a system. This paper presents Kalman filter as an optimal estimation algorithm on the model of a hydraulic actuator which is equally applicable to any other application that involves calculating derivations of noisy measurements. Alternative form of Kalman filter, suitable for implementation on a PLC (Programmable Logic Controller) or any other embedded system is also presented. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png B&H Electrical Engineering de Gruyter

Control of Position, Velocity and Acceleration of Actuators Using Optimal State Estimation

Vodenčarević, Asim
B&H Electrical Engineering , Volume 13 (1): 10 – Dec 1, 2019
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References (5)

Publisher
de Gruyter
Copyright
© 2019 Asim Vodenčarević, published by Sciendo
eISSN
2566-3151
DOI
10.2478/bhee-2019-0002
Publisher site
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Abstract

AbstractIn order to improve performance of closed loop control and achieve highly accurate reference trajectory tracking, motion controllers have to utilize the advanced control and system state estimation algorithms. Classical PID (Proportional-Integral-Derivative) controller includes calculation of derivation of a process value in order to achieve system desired performance of a system. This paper presents Kalman filter as an optimal estimation algorithm on the model of a hydraulic actuator which is equally applicable to any other application that involves calculating derivations of noisy measurements. Alternative form of Kalman filter, suitable for implementation on a PLC (Programmable Logic Controller) or any other embedded system is also presented.

Journal

B&H Electrical Engineering – de Gruyter

Published: Dec 1, 2019

Keywords: Optimal estimator; Kalman filter; numerical differentiation; state feedback

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