Title :
Experiments on robust friction compensation: the inverted pendulum case
Author :
Aimar, R. ; Indri, M. ; Stomboli, T. ; Bona, B.
Author_Institution :
Dipartimento di Autom. e Inf., Politecnico di Torino, Italy
Abstract :
A simple `fixed´ friction compensation method is proposed and experimentally tested in the case of an inverted pendulum, hinged on a cart sliding along two bars. The results show an intrinsic robustness of the method, which does not request the exact knowledge of the real friction function
Keywords :
compensation; friction; nonlinear control systems; robust control; cart-pole system; fixed friction compensation method; intrinsic robustness; inverted pendulum; robust friction compensation; Actuators; Bars; Computer aided software engineering; Friction; Limit-cycles; Robustness; State feedback; Testing; Torque; Voltage;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.532214
