DocumentCode
300699
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
Volume
5
fYear
1995
fDate
21-23 Jun 1995
Firstpage
3303
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, Proceedings of the 1995
Conference_Location
Seattle, WA
Print_ISBN
0-7803-2445-5
Type
conf
DOI
10.1109/ACC.1995.532214
Filename
532214
Link To Document