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[19540] Artykuł:

Differential filters in control systems - manipulator

Czasopismo: IEEE Catalog Number: CFP1542L-CDR, 16 th International Carpathian Control Conference   Strony: 73-78
ISBN:  978-1-4799-7370-5
Wydawca:  IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Opublikowano: Maj 2015
 
  Autorzy / Redaktorzy / Twórcy
Imię i nazwisko Wydział Katedra Procent
udziału		 Liczba
punktów
Leszek Cedro orcid logoWMiBMKatedra Automatyki i Robotyki*10015.00  

Grupa MNiSW:  Materiały z konferencji międzynarodowej (zarejestrowane w Web of Science)
Punkty MNiSW: 15
Klasyfikacja Web of Science: Proceedings Paper

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Keywords:

differential filters  on-line filters  robust control 


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.


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