Observer Design for an Inverted Pendulum with Biased Position Sensors
- Авторы: Aranovskiy S.1,2, Biryuk A.3, Nikulchev E.4, Ryadchikov I.3, Sokolov D.5
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Учреждения:
- CentraleSupelec-IETR
- ITMO University
- Kuban State University
- MIREA—Russian Technological University
- Université de Lorraine
- Выпуск: Том 58, № 2 (2019)
- Страницы: 297-304
- Раздел: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/220350
- DOI: https://doi.org/10.1134/S1064230719020023
- ID: 220350
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Аннотация
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.
Об авторах
S. Aranovskiy
CentraleSupelec-IETR; ITMO University
Email: nikulchev@mail.ru
Франция, Cesson-Sévigné, 35510; Saint Petersburg, 197101
A. Biryuk
Kuban State University
Email: nikulchev@mail.ru
Россия, Krasnodar, 350040
E. Nikulchev
MIREA—Russian Technological University
Автор, ответственный за переписку.
Email: nikulchev@mail.ru
Россия, Moscow, 119454
I. Ryadchikov
Kuban State University
Email: nikulchev@mail.ru
Россия, Krasnodar, 350040
D. Sokolov
Université de Lorraine
Email: nikulchev@mail.ru
Франция, Nancy, 54001