Title :
Friction compensation in the Furuta pendulum for stabilizing rotational modes
Author :
Sørensen, Allan ; Shiriaev, Anton S.
Author_Institution :
The Maersk Mc-Kinney Moller Inst., Univ. of Southern Denmark, Odense, Denmark
Abstract :
This paper is devoted to the problem of friction compensation in the underactuated Furuta pendulum. It is of interest to construct and stabilize the non-trivial periodic motions of the system. It is assumed that the friction phenomenon has a dynamical nature, which is covered by the LuGre friction model. Based on this assumption, it is shown how to construct an interesting class of periodic solutions for the Furuta pendulum via feedback. Finally, it is shown how to achieve an analytical solution to the asymptotic orbital stabilization problem in the presence of friction
Keywords :
friction; nonlinear control systems; observers; pendulums; stability; Furuta pendulum; LuGre friction model; asymptotic orbital stabilization problem; feedback; friction compensation; nonlinear control systems; nontrivial periodic motions; observer design; rotational modes stabilization; Bifurcation; Closed loop systems; Control systems; Equations; Feedback; Friction; Mechanical systems; Motion control; Production; Weight control;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980451
