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Friction and Friction Compensation in the Furuta Pendulum

Svensson, Joakim; Åström, Karl Johan LU and Gäfvert, Magnus LU (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.
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Contribution to conference
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European Control Conference, 1999
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English
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yes
id
a7223e56-406b-446d-ae05-aa4935b1b42d (old id 8516766)
date added to LUP
2016-02-04 15:38:55
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2016-06-27 12:44:05
@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},
  year         = {1999},
}