 |
Conference papers
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.
Cited literature [11 references]
https://hal-centralesupelec.archives-ouvertes.fr/hal-02383471
Contributor : Stanislav Aranovskiy <>
Submitted on : Monday, July 20, 2020 - 4:23:28 PM
Last modification on : Saturday, January 9, 2021 - 3:40:36 AM
Long-term archiving on: : Tuesday, December 1, 2020 - 1:49:54 AM
Contributor : Stanislav Aranovskiy <>
Submitted on : Monday, July 20, 2020 - 4:23:28 PM
Last modification on : Saturday, January 9, 2021 - 3:40:36 AM
Long-term archiving on: : Tuesday, December 1, 2020 - 1:49:54 AM
File
RWPend_nolcos.pdf
Files produced by the author(s)