Title :
Observer and parameter estimation for IWP: Comparison of a super-twisting algorithm and an adaptive method
Author :
Guerrero-Tavares, J.N. ; Aguirre-Becerra, H. ; Ortiz-Santos, S.
Author_Institution :
Dept. de Ing. Mecatronica, Univ. Autonoma de Queretaro, Queretaro, Mexico
fDate :
Sept. 29 2014-Oct. 3 2014
Abstract :
In this paper the comparison of an adaptive method with Super-Twisting for states and parameters estimation of an IWP is presented. The estimated states are arm velocity and pendulum wheel velocity through the position measurement (outputs) and the control signal (input). Subsequently the parameter estimator is implemented. The adaptive law estimates the states and parameters at the same time. For this, a passivity-based controller for positioning the pendulum in its inverted position is used. Finally the results simulated in Simulink / Matlab are presented.
Keywords :
adaptive control; nonlinear control systems; observers; parameter estimation; pendulums; position control; variable structure systems; velocity control; IWP; Matlab; Simulink; adaptive law; adaptive method; arm velocity estimation; control signal; inertial wheel pendulum; inverted position; observer; parameter estimation; passivity-based controller; pendulum wheel velocity estimation; position measurement; state estimation; supertwisting method; Acceleration; Adaptive algorithms; Adaptive systems; Mathematical model; Nonlinear dynamical systems; Observers; Wheels; Differentiator; IWP; Observers; Sliding-mode;
Conference_Titel :
Electrical Engineering, Computing Science and Automatic Control (CCE), 2014 11th International Conference on
Conference_Location :
Campeche
Print_ISBN :
978-1-4799-6228-0
DOI :
10.1109/ICEEE.2014.6978287
