Experimental Evaluation of Homogeneous Differentiators Applied to Hydraulic Stroke with Measurement Noise and Acceleration Disturbance
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https://hdl.handle.net/11250/3130881Utgivelsesdato
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Calmbach, B., Ruderman, M. & Reger J. (2024). Experimental Evaluation of Homogeneous Differentiators Applied to Hydraulic Stroke with Measurement Noise and Acceleration Disturbance. I 2024 IEEE 18th International Conference on Advanced Motion Control (AMC). https://doi.org/10.1109/AMC58169.2024.10505713Sammendrag
The design and experimental evaluation of continuous homogeneous differentiators are considered. The differentiator gains follow the high-gain setup with variable gain-scaling parameter L. This parameter results from a minimization of the effect of measurement noise and disturbance on the differentiation estimation error in terms of the homogeneous L2 -gain. We consider and compare various homogeneity degrees including the linear (high-gain) case. It turns out that an optimum exists not only w.r.t. L but also w.r.t. homogeneity degree d. For experimental evaluation, a hydraulic cylinder controlled by a servo-valve is excited over a frequency range and the noisy cylinder stroke measurements are differentiated. Via classical metrics (root-mean-square and maximum absolute error) and a precise full-order simulation model, we evaluate the velocity estimation accuracy. Applying a second differentiation to the stroke measurements, an acceleration disturbance can be detected from a comparison of its measurement and estimate.
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Author's accepted manuscript.
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