EXTENDED KALMAN FILTER AS A FULL STATE OBSERVER IN APPLICATION OF THE INERTIA WHEEL PENDULUM


Abstract

This paper presents derivation of the full state observer for an inverted, inertia wheel pendulum (IWP). This is a non-linear, underactuated mechanical system and therefore it has more degrees of freedom than control variables. In order to control this mechanical system properly, knowledge of all state variables is needed. In this paper, authors presented IWP’s model, which was later written in matrix form. Finally, based on the model, full state observer was derived. In the end its results were shown.


Keywords

Inertia wheel pendulum; Extended Kalman Filter

Gośliński J., Owczarkowski A.: Control and model parameters identification of inertia wheel pendulum. Proceedings of 9th International Conference on Informatics in Control, Automation and Robotics, Rzym, 2012.

Królikowski A., Horla D.: Identyfikacja Obiektów Sterowania, Wyd. 2, Wydawnictwo Politechniki Poznanskiej, Poznań 2005.

Spong, M. W., P. Corke, R. L.: Nonlinear control of the inertia wheel pendulum. In research under grants CMS-9712170 and ECS-9812591, Urbana, Kenmore, France 1999.


Published : 2013-05-16


Gośliński, J., & Owczarkowski, A. (2013). EXTENDED KALMAN FILTER AS A FULL STATE OBSERVER IN APPLICATION OF THE INERTIA WHEEL PENDULUM. Informatyka, Automatyka, Pomiary W Gospodarce I Ochronie Środowiska, 3(2), 45-48. https://doi.org/10.35784/iapgos.1452

Jarosław Gośliński 
Politechnika Poznańska, Wydział Elektryczny, Instytut Automatyki i Inżynierii Informatycznej  Poland
Adam Owczarkowski  adam.j.owczarkowski@doctorate.put.poznan.pl
Politechnika Poznańska, Wydział Elektryczny, Instytut Automatyki i Inżynierii Informatycznej  Poland