Bias Propagation and Estimation in Homogeneous Differentiators for a Class of Mechanical Systems

Bias Propagation and Estimation in Homogeneous Differentiators for a Class of Mechanical Systems

Blog Article

Motivated by non-anthropomorphic dynamic stabilization of a walking robot, we consider the bias propagation problem for a homogeneous nonlinear model-based differentiator applied to a reaction wheel pendulum with a Bosch PXX875D34E Serie 8 82cm 4 Burners A Induction Hob Touch Control Black biased position sensor.We show that the bias propagates through the velocity observer and compromises the vertical stabilization.To cancel the impact Volleyball - Clothing - Tops of the bias, we propose to augment the differentiator with a reduced-order bias observer.Local asymptotic stability of the augmented nonlinear observer is shown, where the observer gain can be tuned using matrix inequalities.Experimental results illustrate the applicability of the proposed solution.