文章基本信息

标题：Differentiator-based velocity observer with sensor bias estimation: an inverted pendulum case study ⁎
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作者：Igor Ryadchikov ; Stanislav Aranovskiy ; Evgeny Nikulchev 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：16
页码：436-441
DOI：10.1016/j.ifacol.2019.11.819
语种：English
出版社：Elsevier
摘要：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.
关键词：KeywordsVelocity observerdifferentiatorsensor biasinverted pendulumreaction wheel