Observer Design for an Inverted Pendulum with Biased Position Sensors
- Authors: Aranovskiy S.V.1,2, Biryuk A.E.3, Nikulchev E.V.4, Ryadchikov I.V.3, Sokolov D.V.5
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Affiliations:
- CentraleSupelec-IETR
- ITMO University
- Kuban State University
- MIREA—Russian Technological University
- Université de Lorraine
- Issue: Vol 58, No 2 (2019)
- Pages: 297-304
- Section: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/220350
- DOI: https://doi.org/10.1134/S1064230719020023
- ID: 220350
Cite item
Abstract
Inverted pendulums can be considered as an approximation for the stabilization problem for legged robots. In this paper we design a linear observer for a reaction wheel inverted pendulum under biased angle measurements. The reaction wheel is a flywheel that allows the free spinning motor to apply the control torque on the pendulum. In this paper we consider the stabilization problem in the presence of a constant unknown bias in the pendulum angle measurements; this problem has important practical implications, allowing for less precise sensor placement as well as a closer approximation for the control of legged robots. This paper provides a theoretical and experimental basis for the estimation of the velocities and the bias in the system.
About the authors
S. V. Aranovskiy
CentraleSupelec-IETR; ITMO University
Email: nikulchev@mail.ru
France, Cesson-Sévigné, 35510; Saint Petersburg, 197101
A. E. Biryuk
Kuban State University
Email: nikulchev@mail.ru
Russian Federation, Krasnodar, 350040
E. V. Nikulchev
MIREA—Russian Technological University
Author for correspondence.
Email: nikulchev@mail.ru
Russian Federation, Moscow, 119454
I. V. Ryadchikov
Kuban State University
Email: nikulchev@mail.ru
Russian Federation, Krasnodar, 350040
D. V. Sokolov
Université de Lorraine
Email: nikulchev@mail.ru
France, Nancy, 54001
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