Experimental Comparison of Velocity Observers: A Scissored Pair Control Moment Gyroscope Case Study

被引:9
作者
Aranovskiy, Stanislav [1 ,4 ]
Ryadchikov, Igor [2 ]
Nikulchev, Evgeny [3 ]
Wang, Jian [4 ]
Sokolov, Dmitry [5 ]
机构
[1] Cent Supelec IETR, Equipe Automat, F-35576 Cesson Sevigne, France
[2] Kuban State Univ, Lab Robot & Mechatron, Krasnodar 350040, Russia
[3] MIREA Russian Technol Univ, Moscow 119454, Russia
[4] Hangzhou Dianzi Univ, Sch Automat, Hangzhou 310018, Peoples R China
[5] Univ Lorraine, LORIA, INRIA, CNRS, F-54000 Nancy, France
关键词
Scissored-pair control moment gyroscope; velocity estimation; differentiator; inverted pendulum; bipedal gait; DIFFERENTIATION; MODE;
D O I
10.1109/ACCESS.2020.2968221
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
We consider scissored pair gyroscopes as an auxiliary stabilization system for legged robots. A standard state-feedback control can stabilize the system if all states are available; thus, the velocity estimation becomes the key element for the stabilization. To this end, we implement and experimentally compare a model-free linear differentiator, a model-based full-state linear observer with time-varying gains, and a model-based homogeneous nonlinear differentiator. Moreover, we also 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. The proposed designs are tested on an experimental scissored pair control moment gyroscope setup constructed for a walking robot stabilization.
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页码:21694 / 21702
页数:9
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