Effects of nonlinear friction compensation in the inertia wheel pendulum

Aguilar-Avelar, Carlos; Rodríguez-Calderón, Ricardo; Puga-Guzmán, Sergio; Moreno–Valenzuela, Javier

doi:10.1007/s12206-017-0843-4

Cited by 12 publications

(8 citation statements)

References 14 publications

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“…The inertia or inertial wheel pendulum [34,[42][43][44]] is a two-degree of freedom robot as shown in Figure 4. The pendulum constitutes the first link that is unactuated, while the rotating wheel is the second one that is supposed to control the pendulum.…”

Section: The Inertial Wheel Pendulummentioning

confidence: 99%

A Review on the Control of Second Order Underactuated Mechanical Systems

2018

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This paper describes some important classes of two degrees of freedom of underactuated mechanical system and also surveys review of the recent state-of-the-art concerning the mathematical modeling of these systems, their classification, and all the control strategies (linear, nonlinear, and intelligent) that have been made so far (i.e., from the year 2000 to date) to control these systems. Future research and challenges concerning the improvement, the effectiveness, and robustness of the proposed controllers for underactuated mechanical systems are presented.

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Section: The Inertial Wheel Pendulummentioning

confidence: 99%

A Review on the Control of Second Order Underactuated Mechanical Systems

2018

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“…The experimental results showed that the vibration isolation performances of the tracking system and carrier turbulent vibration isolation system were better than those of the corresponding control system without the proposed nonlinear friction model compensation. Aguilar-Avelar et al [61] were the first to discuss modeling, identifying, and compensating for the effects of nonlinear friction on flywheel control. A new algorithm for stabilizing the pendulum in an upward unstable position and a feedback linearizationbased controller with friction compensation were proposed.…”

Section: Fixed Model Compensationmentioning

confidence: 99%

A Review of Key Technologies for Friction Nonlinearity in an Electro-Hydraulic Servo System

et al. 2022

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In a high-precision servo system, the nonlinear friction link is the key factor affecting the system performance. Reasonable solving of the friction link in servo systems has become a focus of current research. This paper summarizes the friction nonlinearity that affects the control performance of servo systems. First, the characteristics of friction are summarized, and the advantages and disadvantages of typical friction models in recent years are analyzed. Subsequently, existing friction model parameter identification methods are introduced and evaluated. On this basis, the development level of the friction nonlinear control strategy is analyzed from three aspects: friction model-based control, friction model-free control, and compound control. Finally, the objective advantages and disadvantages of the existing technology are summarized, and the future development direction of the friction model and selection reference for the nonlinear friction control strategy are comprehensively discussed.

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“…The IWIP (see Figure 1) has attracted the attention of many researchers within the control community (Freidovich et al, 2009;Zhang et al, 2016). It was considered a lot as a benchmark to study new nonlinear approaches (Aguilar-Avelar et al, 2017;Andary et al, 2012;Estrada et al, 2012;Gritli et al, 2017;Haddad et al, 2018;Moreno-Valenzuela et al, 2017). It has the flatness property with kinetic symmetry (Olfati-Saber, 2001).…”

Section: Description Of the Iwipmentioning

confidence: 99%

Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

Hfaiedh

Chemori²,

Abdelkrim

2021

Transactions of the Institute of Measurement and Control

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In this paper, the control problem of a class I of underactuated mechanical systems (UMSs) is addressed. The considered class includes nonlinear UMSs with two degrees of freedom and one control input. Firstly, we propose the design of a robust integral of the sign of the error (RISE) control law, adequate for this special class. Based on a change of coordinates, the dynamics is transformed into a strict-feedback (SF) form. A Lyapunov-based technique is then employed to prove the asymptotic stability of the resulting closed-loop system. Numerical simulation results show the robustness and performance of the original RISE toward parametric uncertainties and disturbance rejection. A comparative study with a conventional sliding mode control reveals a significant robustness improvement with the proposed original RISE controller. However, in real-time experiments, the amplification of the measurement noise is a major problem. It has an impact on the behaviour of the motor and reduces the performance of the system. To deal with this issue, we propose to estimate the velocity using the robust Levant differentiator instead of the numerical derivative. Real-time experiments were performed on the testbed of the inertia wheel inverted pendulum to demonstrate the relevance of the proposed observer-based RISE control scheme. The obtained real-time experimental results and the obtained evaluation indices show clearly a better performance of the proposed observer-based RISE approach compared to the sliding mode and the original RISE controllers.

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Effects of nonlinear friction compensation in the inertia wheel pendulum

Cited by 12 publications

References 14 publications

A Review on the Control of Second Order Underactuated Mechanical Systems

A Review on the Control of Second Order Underactuated Mechanical Systems

A Review of Key Technologies for Friction Nonlinearity in an Electro-Hydraulic Servo System

Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

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