Abstract—This paper describes dual sampling-late observer design for an auto operation robot. The proposed method has two sampling times to make the system more stability. For the plant, one depends on its sensor resolution. The other depends on the system. The former is longer than the latter. In this study, we could equalize the former to the latter with dual sampling-rate observer. In addition, the proposed method, which is used to realize the design, is discretized by a zero-order-hold, and works as a one-order-hold to increase the stability and simplify the design. In this study, we simulated three different sampling terms. Simulation results revealed the effectiveness of our proposed method.
Index Terms—Dual sampling-rate observer, optimal control, one-order-hold, robot.
The authors are with Graduate School of Science and Technology, Meiji University, Kawasaki, Kanagawa 214- 8571 Japan (e-mail:ce11064@meiji.ac.jp).
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Cite:C. Nakagome, H. Ogawa, H. Shibasaki, R. Tanaka, K., and Y. Ishida, "Dual Sampling-Rate Observer Design for an Auto Operation Robot," Journal of Clean Energy Technologies vol. 1, no. 4, pp. 264-267, 2013.
