Combined Synthesis of State Estimator and Perturbation Observer

[+] Author and Article Information
SangJoo Kwon, Wan Kyun Chung

Robotics & Bio-Mechatronics Lab., Department of Mechanical Engineering, Pohang University of Science and Technology (POSTECH), Pohang, 790-784, Korea

J. Dyn. Sys., Meas., Control 125(1), 19-26 (Mar 10, 2003) (8 pages) doi:10.1115/1.1540112 History: Received May 01, 2002; Revised September 01, 2002; Online March 10, 2003
Copyright © 2003 by ASME
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Dynamical inter-connection between state estimator and perturbation observer in the combined observer
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Frequency response of Eq. (29): Sensitivity of state estimation error to perturbation
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Frequency response of Eq. (30): Sensitivity of state estimation error to sensor noise
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Comparison of the frequency responses of Eqs. (33) (“Combined”) and (34) (“Full-state”)
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(Simulation) a) true position and velocity, b) position estimation error, and c) velocity estimation error
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(Simulation) a) perturbation (w(t)) and perturbation estimation error (w̃(t)); and b) actuator input, u(t)[V]=0.5 sin(10t) and disturbance, d(t)[V]=2 sin(40t)+0.5 sin(80t)
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(Experiment) a) reference trajectory, b) tracking error, and c) perturbation estimate
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(Experiment) a) tracking error (x-axis), b) tracking error (y-axis), and c) input disturbance
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(Experiment) a) velocity estimate (x-axis) and b) perturbation estimate (x-axis)
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Performance of the discrete Kalman filter (DKF) with and without the perturbation observer (PO): a) position estimation error, b) velocity estimation error, and c) process noise (perturbation)




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