Abstract
This chapter presents a complementary technique to support the aforementioned control methodologies which have assumed that accurate measurements of the base oscillation can be available for the control system. Here we present an estimation algorithm of the base oscillation assuming a low-cost rate gyro sensor. The heart of this algorithm is a method of selectively combining multiple \(\mathcal {H}_\infty \) filters according to an innovation-based criterion. We introduce this algorithm and demonstrate its estimation performance by simulations using the Bretschneider oscillation in Chap. 2. The results show that among the multiple filters appropriate ones can be selected with the innovation-based criterion, and thus the estimation algorithm is effective.
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© 2016 Springer International Publishing Switzerland
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Toda, M. (2016). Base Oscillation Estimation via Multiple \(\mathcal {H}_\infty \) Filters. In: Robust Motion Control of Oscillatory-Base Manipulators. Lecture Notes in Control and Information Sciences, vol 463. Springer, Cham. https://doi.org/10.1007/978-3-319-21780-2_7
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DOI: https://doi.org/10.1007/978-3-319-21780-2_7
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Publisher Name: Springer, Cham
Print ISBN: 978-3-319-21779-6
Online ISBN: 978-3-319-21780-2
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