Experimental Comparison of Velocity Observers: A Scissored Pair Control Moment Gyroscope Case Study

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

1 IETR - Institut d'Électronique et des Technologies du numéRique
2 CentraleSupélec
3 Kuban State University [Russie]
4 MIREA - Russian Technological University
5 HDU - Hangzhou Dianzi University
6 PIXEL - Structurer des formes géométriques

We consider scissored pair gyroscopes as an auxiliary stabilization system for legged robots. A standard state-feedback control can stabilize the system if all states are available; thus, the velocity estimation becomes the key element for the stabilization. To this end, we implement and experimentally compare a model-free linear differentiator, a model-based full-state linear observer with time-varying gains, and a model-based homogeneous nonlinear differentiator. Moreover, we also show that the considered system cannot be partially linearized via a change of coordinates, and thus is not suitable for a recently reported class of nonlinear observers. The proposed designs are tested on an experimental scissored pair control moment gyroscope setup constructed for a walking robot stabilization.

Keywords: differentiator; inverted pendulum; bipedal gait; Scissored-pair control moment gyroscope; velocity estimation

Domains: Engineering Sciences [physics]; Automatic

Stanislav Aranovskiy, Igor Ryadchikov, Evgeny Nikulchev, Jian Wang, Dmitry Sokolov. Experimental Comparison of Velocity Observers: A Scissored Pair Control Moment Gyroscope Case Study. IEEE Access, 2020, 8, pp.21694-21702. ⟨10.1109/ACCESS.2020.2968221⟩. ⟨hal-02516558⟩