Title :
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
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;
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
DOI :
10.1109/CCA.2001.973985
