Name
Title | ||
|---|---|---|
Experimental comparison of velocity estimators for a control moment gyroscope inverted pendulum |
Abstract | ||
|---|---|---|
We consider the problem of velocity estimation for a control moment gyroscope inverted pendulum. To this end, we a consider model-free differentiator, a model-based linear observer and a model-based nonlinear differentiator. The proposed designs are implemented in hardware and the closed-loop system performance in the stabilization task is compared. Moreover, we 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. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/AMC44022.2020.9244424 | 2020 IEEE 16th International Workshop on Advanced Motion Control (AMC) |
Keywords | DocType | ISSN |
velocity estimation,differentiator,inverted pendulum,control moment gyroscope | Conference | 1943-6572 |
ISBN | Citations | PageRank |
978-1-7281-3190-0 | 0 | 0.34 |
References | Authors | |
6 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dmitry Sokolov | 1 | 11 | 4.98 |
| Stanislav Aranovskiy | 2 | 129 | 20.98 |
| Alexander Gusev | 3 | 0 | 0.34 |
| Igor Ryadchikov | 4 | 0 | 2.03 |