Abstract
Generally, the ΔΣ modulator is widely used to suppress the influence of the quantization error. This method can shape the quantization error by a differentiator and shift its power to the high frequency range. From this reason, the influence of the quantization error can be suppressed in the low frequency range, where the main components of the control signal should have larger power. However, the quantization error is excessively amplified in higher frequencies, so performance degradation and/or destabilization of the control system may occur. On the other hand, the quantization error observer (QEOB), which is our proposed method, can shape it through a high-pass filter. Thereby, QEOB can shape the quantization error without excessive amplification in the high frequency range. Finally, we apply QEOB to a 2-link reconfigurable robot system and the effectiveness of the proposed method is confirmed by the simulation.
Original language | English |
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Title of host publication | CACS 2014 - 2014 International Automatic Control Conference, Conference Digest |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 265-268 |
Number of pages | 4 |
ISBN (Electronic) | 9781479945849 |
DOIs | |
Publication status | Published - Apr 28 2014 |
Event | 2014 International Automatic Control Conference, CACS 2014 - Kaohsiung, Taiwan, Province of China Duration: Nov 26 2014 → Nov 28 2014 |
Other
Other | 2014 International Automatic Control Conference, CACS 2014 |
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Country/Territory | Taiwan, Province of China |
City | Kaohsiung |
Period | 11/26/14 → 11/28/14 |
ASJC Scopus subject areas
- Control and Systems Engineering