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 ...Show MoreMetadata
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.
Published in: 2014 11th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)
Date of Conference: 29 September 2014 - 03 October 2014
Date Added to IEEE Xplore: 06 December 2014
ISBN Information: