NDLI: Comparison of a Super-Twisting differentiator and a Luenberger observer for an Inertia Wheel Pendulum: An experimental approach

Content Provider	IEEE Xplore Digital Library
Author	Ortiz-Santos, S. Guerrero-Tavares, J.N.
Copyright Year	2014
Description	Author affiliation: Dept. de Ing. Mecatronica, Univ. Autonoma de Queretaro, Querétaro, Mexico (Ortiz-Santos, S.; Guerrero-Tavares, J.N.)
Abstract	In this paper, the comparison between a Super-Twisting and a Luenberger observer for an Inertial Wheel Pendulum (IWP), linearized in its inverted position, is presented. Both are focused on the estimation of the arm and wheel velocity. To keep the pendulum at its operating point, a state feedback controller that requires the pendulum position and velocity is used. For the elimination of sensors needed to measure the pendulum position and velocity, the numerical derivative to obtain the IWP velocity through the measurement position is a method that has been applied, with the disadvantage of being sensitive to electrical noise in the system. To avoid this situation, the concept of state observer is introduced as a useful tool for velocity estimation. The Lineal Luenberger observer requires information of the mathematical model of the system while the Super-Twisting differentiator only requires the input and output measurement, besides it presents great robustness to disturbances. For those reasons, it is an excellent tool for velocity estimation in dynamical systems. The results are obtained numerically from experimental measurements.
Starting Page	1
Ending Page	5
File Size	281318
Page Count	5
File Format	PDF
e-ISBN	9781479979325
DOI	10.1109/CIIMA.2014.6983426
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	Colombia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Linear systems State feedback IWP Wheels Observers Position measurement Sliding-mode Differentiator Mathematical model Luenberger
Content Type	Text
Resource Type	Article

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