Bias Propagation and Estimation in Homogeneous Differentiators for a Class of Mechanical Systems
Motivated by non-anthropomorphic dynamic stabilization of a walking robot, we consider the bias propagation problem for a homogeneous nonlinear model-based differentiator applied to a reaction wheel pendulum with a biased position sensor. We show that the bias propagates through the velocity observe...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8963975/ |