Bias Propagation and Estimation in Homogeneous Differentiators for a Class of Mechanical Systems - Archive ouverte HAL Access content directly
Journal Articles IEEE Access Year : 2020

Bias Propagation and Estimation in Homogeneous Differentiators for a Class of Mechanical Systems

(1, 2) , (3) , (4) , (5) , (6)
1
2
3
4
5
6

Abstract

Motivated by non-anthropomorphic dynamic stabilization of a walking robot, we consider the bias propagation problem for a homogeneous nonlinear model-based differentiator applied to a reaction wheel pendulum with a biased position sensor. We show that the bias propagates through the velocity observer and compromises the vertical stabilization. To cancel the impact of the bias, we propose to augment the differentiator with a reduced-order bias observer. Local asymptotic stability of the augmented nonlinear observer is shown, where the observer gain can be tuned using matrix inequalities. Experimental results illustrate the applicability of the proposed solution.
Fichier principal
Vignette du fichier
08963975.pdf (1.33 Mo) Télécharger le fichier
Origin : Publisher files allowed on an open archive
Loading...

Dates and versions

hal-02516559 , version 1 (16-07-2020)

Licence

Attribution - CC BY 4.0

Identifiers

Cite

Stanislav Aranovskiy, Igor Ryadchikov, Evgeny Nikulchev, Jian Wang, Dmitry Sokolov. Bias Propagation and Estimation in Homogeneous Differentiators for a Class of Mechanical Systems. IEEE Access, 2020, 8, pp.19450-19459. ⟨10.1109/ACCESS.2020.2968219⟩. ⟨hal-02516559⟩
185 View
108 Download

Altmetric

Share

Gmail Facebook Twitter LinkedIn More