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An Observer Design Technique for Improving Velocity Estimation of a Gimbal System

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Robot Intelligence Technology and Applications 5 (RiTA 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 751))

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Abstract

This paper presents filter design techniques for the improved estimation of the velocity of the gimbal axis in a control moment gyro (CMG) actuator. In the motion control applications, the velocity sensor is not available but the estimation filters are often used due to the cost of the sensor. The first derivative filter technique is used most, but the filtering performance is not reliable for the accuracy requirement. The velocity observer is designed to estimate the velocity based on the modelling technique by the recursive least squares (RLS) method. Experimental results of estimating the velocity of the gimbal system in a CMG are conducted. The estimation performances are compared through the experimental data.

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Acknowledgements

This research has been supported by 2017 National Research Foundation of Korea (grant 2016R1A2B2012031).

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Authors and Affiliations

  1. Intelligent Systems and Emotional Engineering (ISEE) Laboratory, Department of Mechatronics Engineering, Chungnam National University, 99 Daehak-ro, Yuseong-gu, Daejeon, 34134, Korea

    Sangdeok Lee & Seul Jung

Authors
  1. Sangdeok Lee
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  2. Seul Jung
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Corresponding author

Correspondence to Seul Jung .

Editor information

Editors and Affiliations

  1. School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Jong-Hwan Kim

  2. Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Hyun Myung

  3. School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Junmo Kim

  4. Department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand

    Weiliang Xu

  5. Department of Computer and Information Technology, Purdue University, West Lafayette, Indiana, USA

    Eric T Matson

  6. Department of Computer Science and Engineering, Dongguk University, Seoul, Korea (Republic of)

    Jin-Woo Jung

  7. Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Han-Lim Choi

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Lee, S., Jung, S. (2019). An Observer Design Technique for Improving Velocity Estimation of a Gimbal System. In: Kim, JH., et al. Robot Intelligence Technology and Applications 5. RiTA 2017. Advances in Intelligent Systems and Computing, vol 751. Springer, Cham. https://doi.org/10.1007/978-3-319-78452-6_28

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