Integrated Sensing/Filtering Design and Application to Flexible Manipulators

Research output: Journal Publications and ReviewsRGC 22 - Publication in policy or professional journal

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Original languageEnglish
Pages (from-to)5233-5238
Journal / PublicationProceedings of the American Control Conference
Publication statusPublished - 2003


Title2003 American Control Conference (ACC 2003)
LocationThe Adams Mark Hotel
PlaceUnited States
Period4 - 6 June 2003


This paper addresses the problem of making better use of increasingly available sensor resources toward improving filter performance. In particular, we show how to use different sensors in filter design that can simultaneously satisfy multiple performance specifications. A novel approach is taken in our design paradigm that integrates sensing strategy with the filter design, which weakens filtering performance limitations and conflicting constraints. An application to the estimation of the endpoint vibration rate of a flexible manipulator is presented with experimental verifications.