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Journal articles
Experimental Comparison of Velocity Observers: A Scissored Pair Control Moment Gyroscope Case Study
Abstract : 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.
Cited literature [22 references]
https://hal-centralesupelec.archives-ouvertes.fr/hal-02516558
Contributor : Laurent Jonchère <>
Submitted on : Thursday, July 16, 2020 - 9:31:39 AM
Last modification on : Monday, October 5, 2020 - 9:50:30 AM
Long-term archiving on: : Monday, November 30, 2020 - 10:58:46 PM
Contributor : Laurent Jonchère <>
Submitted on : Thursday, July 16, 2020 - 9:31:39 AM
Last modification on : Monday, October 5, 2020 - 9:50:30 AM
Long-term archiving on: : Monday, November 30, 2020 - 10:58:46 PM
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