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Observer Design for an Inverted Pendulum with Biased Position Sensors

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.
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Submitted on : Tuesday, September 10, 2019 - 2:11:12 PM
Last modification on : Friday, July 8, 2022 - 10:07:46 AM
Long-term archiving on: : Friday, February 7, 2020 - 11:34:38 PM



Stanislav Aranovskiy, Andrei Biryuk, Evgeny V. Nikulchev, Igor Ryadchikov, Dmitry Sokolov. Observer Design for an Inverted Pendulum with Biased Position Sensors. Izvestia Rossiiskoi Akademii Nauk.Teoriya i Systemy Upravleniya / Journal of Computer and Systems Sciences International, 2019, 58 (2), pp.297-304. ⟨10.1134/S1064230719020023⟩. ⟨hal-02282919⟩



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