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Differentiator-based velocity observer with sensor bias estimation: an inverted pendulum case study

Abstract : In this paper we consider the problem of velocity estimation and stabilization for balancing an inverted pendulum equipped with a reaction wheel. A homogeneous differentiator is proposed for velocity estimation, and it is shown that a bias in sensor readings yields steady-state estimation error. The proposed observer is augmented with a reduced-order bias estimator and local asymptotic stability of the coupled observers is shown. The proposed solution is tested and compared with another approach on an experimental setup.
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Submitted on : Monday, July 20, 2020 - 4:23:28 PM
Last modification on : Monday, July 20, 2020 - 4:27:33 PM

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Igor Ryadchikov, Stanislav Aranovskiy, Evgeny Nikulchev, Jian Wang, Dmitry Sokolov. Differentiator-based velocity observer with sensor bias estimation: an inverted pendulum case study. 11th IFAC Symposium on Nonlinear Control Systems, Sep 2019, Vienna, Austria. ⟨hal-02383471⟩

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