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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.
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https://hal.inria.fr/hal-02313600
Contributor : Dmitry Sokolov <>
Submitted on : Thursday, November 7, 2019 - 1:42:47 PM
Last modification on : Tuesday, October 27, 2020 - 4:05:07 PM

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  • HAL Id : hal-02313600, version 2

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

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