Differentiator-based velocity observer with sensor bias estimation: an inverted pendulum case study

Abstract In this paper we consider the problem of velocity estimation and stabilization for balancing an inverted pendulum equipped with a reaction wheel. A homogeneous differentiator is proposed for velocity estimation, and it is shown that a bias in sensor readings yields steady-state estimation error. The proposed observer is augmented with a reduced-order bias estimator and local asymptotic stability of the coupled observers is shown. The proposed solution is tested and compared with another approach on an experimental setup.