Friction compensation for a double inverted pendulum

Author

Fang, Lei ; Chen, Wei Ji ; Cheang, Sek Un

Author_Institution

Dept of Electron. & Comput. Eng., Connecticut Univ., Storrs, CT, USA

fYear

2001

fDate

2001

Firstpage

908

Lastpage

913

Abstract

The inverted pendulum system exhibits nonnegligible nonlinearities due to its dynamic structure and friction forces, which cause large limit cycles. The limit cycles are well predicted by the nonlinear simulation model with Coulomb and viscous friction. To compensate the cart-on-rail friction, a friction compensator based on modified first-order Dahl model is implemented. The experiment results show that the amplitudes of the limit cycles are substantially reduced by friction compensation. In particular, the friction compensator works quite well without accurate velocity signals. The study will thus be of value to a variety of systems for compensating friction without extra velocity sensors

Keywords

compensation; friction; limit cycles; nonlinear control systems; pendulums; Coulomb friction; cart-on-rail friction compensation; cart-pole system; double inverted pendulum; dynamic structure; friction forces; large limit cycles; limit cycle amplitude reduction; modified first-order Dahl model; nonlinear simulation model; viscous friction; Drives; Friction; Limit-cycles; Linear feedback control systems; Mechanical systems; Potentiometers; Predictive models; Rails; Regulators; Steady-state;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on

Conference_Location

Mexico City

Print_ISBN

0-7803-6733-2

Type

conf

DOI

10.1109/CCA.2001.973985

Filename

973985