Friction and Friction Compensation in the Furuta Pendulum
(1999) European Control Conference, 1999- Abstract
- Inverted pendulums are very well suited to investigate friction phenomena and friction compensation because the effects of friction are so clearly noticeable. This paper analyses the effect of friction on the Furuta pendulum. It is shown that friction in the arm drive may cause limit cycles. The limit cycles are well predicted by common friction models. It is also shown that the amplitudes of the limit cycles can be reduced by friction compens ation. Compensators based on the Coulomb friction model and the LuGre model are discussed. Experiments performed show that reduction of the effects of friction can indeed be accomplished.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/8516766
- author
- Svensson, Joakim ; Åström, Karl Johan LU and Gäfvert, Magnus LU
- organization
- publishing date
- 1999
- type
- Contribution to conference
- publication status
- published
- subject
- conference name
- European Control Conference, 1999
- conference location
- Karlsruhe, Germany
- conference dates
- 1999-08-31 - 1999-09-03
- language
- English
- LU publication?
- yes
- id
- a7223e56-406b-446d-ae05-aa4935b1b42d (old id 8516766)
- date added to LUP
- 2016-04-04 14:18:26
- date last changed
- 2018-11-21 21:19:32
@misc{a7223e56-406b-446d-ae05-aa4935b1b42d, abstract = {{Inverted pendulums are very well suited to investigate friction phenomena and friction compensation because the effects of friction are so clearly noticeable. This paper analyses the effect of friction on the Furuta pendulum. It is shown that friction in the arm drive may cause limit cycles. The limit cycles are well predicted by common friction models. It is also shown that the amplitudes of the limit cycles can be reduced by friction compens ation. Compensators based on the Coulomb friction model and the LuGre model are discussed. Experiments performed show that reduction of the effects of friction can indeed be accomplished.}}, author = {{Svensson, Joakim and Åström, Karl Johan and Gäfvert, Magnus}}, language = {{eng}}, title = {{Friction and Friction Compensation in the Furuta Pendulum}}, url = {{https://lup.lub.lu.se/search/files/6329909/8598856.pdf}}, year = {{1999}}, }