Closed-Loop Quantification and Compensation of Friction in an Inverted Pendulum

摘要: In this paper, different approaches for friction estimation and compensation in an inverted pendulum are compared. The Coulomb, static, viscous frictions estimated using data only from a closed-loop operation. A control law linear state feedback is designed to stabilize the pendulum, but limit cycles appear due friction. Methods based on fitting ellipse input–output plot least squares with Karnopp model employed estimate parameters be used models considered. values then compared those obtained open-loop tests, via application of ramp current motor cart. Friction carried out two strategies: LuGre non-model knocker constant reinforcement techniques. While model-based methods use sign velocity change compensation, non-model- signal decision, anticipatory action. Both strategies through their simulation real IAE variance position angle performance measurement. This comparison analysis about difficulty estimating each indicate best scheme method benchmark.