CASPIAN JOURNAL
MANAGEMENT AND HIGH TECHNOLOGIES
Synthesis and research of model of global exponential and sustainable observer of angular speed for reversible pendulum with flywheel
 |
Read | Gusev A. A., Nikulchev E. V., Ryadchikov I. V., Sokolov D. V. Synthesis and research of model of global exponential and sustainable observer of angular speed for reversible pendulum with flywheel // Caspian journal : management and high technologies. — 2018. — №3. — pp. 129-137. |
Gusev A. A. - post-graduate student, Kuban State University, 149 Stavropolskaya St., Krasnodar, 350040, Russian Federation, alexandrgsv@gmail.com
Nikulchev E. V. - Doct. Sci. (Engineering), Professor, MIREA - Russian Technological University, 78 Vernadsky Ave., Moscow, 119454, Russian Federation, nikulchev@mail.ru
Ryadchikov I. V. - Kuban State University, Cand. Sci. (Physics and Mathematics), Head of the Laboratory of Robotics and Mechatronics, igorryadchikov@gmail.com
Sokolov D. V. - Associate Professor, UniversitГ© de Lorraine, 54000 Nancy, France, dmitry.sokolov@univ-lorraine.fr
In practical implementations of robotic mechatronic systems, the elimination and compensation of noise and errors of position sensors require the development of effective state observers. The article discusses a one-dimensional inverted pendulum with a reaction wheel, which is the basis for the stabilization of many controlled mechanical systems. As a base model, a modern, practically important class of Partially Linearizable via Coordinate Change (PLvCC) controlled systems is used. For this class of systems, a globally exponentially stable (GES) observer was previously proposed based on Luenberger-like observer. An observer of angular velocity of that kind was synthesized in the article for the model of a reaction wheel inverted pendulum. A convenient coordinate transformation for partial linearization of the model was proposed. The parameters of the observer for the experimental plant were identified. The results of the comparison of the accuracy of the GES observer compared with a high gain observer and a sliding mode observer were given. The study of models of observers was carried out in the MATLAB / Simulink environment for the model of a reaction wheel inverted pendulum. Simulation results showed the effectiveness of the GES observer.
Key words: нелинейные системы, наблюдатель состояния, механические системы, наблюдатель с высоким коэффициентом усиления, наблюдатель на основе скользящего режима, обратный маятник, nonlinear systems, state observer, mechanical systems, high-gain observer, sliding m