NDLI: Model-based friction compensation scheme for the linear inverted pendulum

Content Provider	IEEE Xplore Digital Library
Author	Yu-zhu Zhao Lian-Kui Qiu Yan-xia Zhang
Copyright Year	2011
Description	Author affiliation: College of Electronic and Information Engineering, Henan University of Science and Technology, Luoyang, China (Yu-zhu Zhao; Lian-Kui Qiu; Yan-xia Zhang)
Abstract	Generally, studies on inverted pendulum system only considered the viscous friction, the system with controllers designed based on this model was stable in simulations. However, when the controller was implemented in experimental system, small oscillation resulted. This paper give strong evidence that stick-slip friction between the cart and the track is the source of the small amplitude oscillations. To offset the impact of friction and eliminates this oscillation, Gauss and LuGre friction model were employed, respectively, and the friction parameters are measured experimentally. The feedback controller is employed to stable the inverted pendulum in the upright position. Finally, simulation results are given to prove the validity of the proposed friction compensation strategy.
Starting Page	554
Ending Page	558
File Size	409514
Page Count	5
File Format	PDF
ISBN	9781612847191
e-ISBN	9781612847221
DOI	10.1109/MEC.2011.6025525
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-08-19
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Friction model Inverted pendulum Friction Force Control systems Educational institutions Numerical models Feedback control Mathematical model Oscillators Friction compensation
Content Type	Text
Resource Type	Article

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