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The Effect of Friction on Stabilization of an Inverted Pendulum

Abelson, Carl Fredrik (1996) In MSc Theses
Department of Automatic Control
Abstract
This thesis investigates frictional effects on the stabilization of a rotating inverted pendulum. Because of friction, limit cycles arise when trying to stabilize the inverted pendulum. The stabilization is done using linear state feedback. For estimation of the states, Kalman filters are used. Both real-time experiments and simulations are performed. Two friction models are used, one classical with stiction and Coulomb friction, and one advanced and dynamic, the LuGre model. These are identified by comparing limit cycles from the real process with limit cycles obtained through simulations. Since the inverted pendulum is an unstable process with fast dynamics. it is sensitive to parameter changes, and thus it is difficult to get good... (More)
This thesis investigates frictional effects on the stabilization of a rotating inverted pendulum. Because of friction, limit cycles arise when trying to stabilize the inverted pendulum. The stabilization is done using linear state feedback. For estimation of the states, Kalman filters are used. Both real-time experiments and simulations are performed. Two friction models are used, one classical with stiction and Coulomb friction, and one advanced and dynamic, the LuGre model. These are identified by comparing limit cycles from the real process with limit cycles obtained through simulations. Since the inverted pendulum is an unstable process with fast dynamics. it is sensitive to parameter changes, and thus it is difficult to get good results. Model-based friction compensation is also tried. This results in reduced limit cycles. (Less)
Please use this url to cite or link to this publication:
author
Abelson, Carl Fredrik
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
keywords
Inverted Pendulum, Friction, Limit Cycles, Friction Identification, Friction Compensation, LuGre Model
publication/series
MSc Theses
report number
TFRT-5563
ISSN
0280-5316
language
English
id
8848726
date added to LUP
2016-03-24 17:58:51
date last changed
2016-03-24 17:58:51
@misc{8848726,
  abstract     = {This thesis investigates frictional effects on the stabilization of a rotating inverted pendulum. Because of friction, limit cycles arise when trying to stabilize the inverted pendulum. The stabilization is done using linear state feedback. For estimation of the states, Kalman filters are used. Both real-time experiments and simulations are performed. Two friction models are used, one classical with stiction and Coulomb friction, and one advanced and dynamic, the LuGre model. These are identified by comparing limit cycles from the real process with limit cycles obtained through simulations. Since the inverted pendulum is an unstable process with fast dynamics. it is sensitive to parameter changes, and thus it is difficult to get good results. Model-based friction compensation is also tried. This results in reduced limit cycles.},
  author       = {Abelson, Carl Fredrik},
  issn         = {0280-5316},
  keyword      = {Inverted Pendulum,Friction,Limit Cycles,Friction Identification,Friction Compensation,LuGre Model},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {The Effect of Friction on Stabilization of an Inverted Pendulum},
  year         = {1996},
}