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

fYear

2014

fDate

Sept. 29 2014-Oct. 3 2014

Firstpage

1

Lastpage

6

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICEEE.2014.6978287

Filename

6978287