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Experimental comparison of velocity estimators for a control moment gyroscope inverted pendulum

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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.
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Dates and versions

hal-02313600 , version 1 (11-10-2019)
hal-02313600 , version 2 (07-11-2019)

Identifiers

  • HAL Id : hal-02313600 , version 2

Cite

Dmitry Sokolov, Stanislav Aranovskiy, Alexander A Gusev, Igor Ryadchikov. Experimental comparison of velocity estimators for a control moment gyroscope inverted pendulum. AMC 2020 - 16th IEEE International Workshop on Advanced Motion Control, Sep 2020, Kristiansand / Virtual, Norway. ⟨hal-02313600v2⟩
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