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

Igor Ryadchikov (1) , Stanislav Aranovskiy (2, 3) , Evgeny Nikulchev (4) , Jian Wang (5) , Dmitry Sokolov (6)

1 Kuban State University [Russie]
2 IETR - Institut d'Électronique et des Technologies du numéRique
3 CentraleSupélec
4 MIREA - Russian Technological University
5 HDU - Hangzhou Dianzi University
6 ALICE - Geometry and Lighting

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.

Keywords: reaction wheel; Velocity observer; differentiator; inverted pendulum; sensor bias

Domains: Engineering Sciences [physics]; Automatic; Computer Science [cs]; Systems and Control [cs.SY]

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⟩