Finite-Time State Estimation for an Inverted Pendulum under Input-Multiplicative Uncertainty
A sliding mode observer is presented, which is rigorously proven to achieve finite-time state estimation of a dual-parallel underactuated (i.e., single-input multi-output) cart inverted pendulum system in the presence of parametric uncertainty. A salient feature of the proposed sliding mode observer...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-10-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/9/4/87 |