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Effects of nonlinear friction compensation in the inertia wheel pendulum

Abstract

This paper discusses for the first time the effects of modeling, identifying and compensating nonlinear friction for the control of the inertia wheel pendulum and proposes a new algorithm for the stabilization of the pendulum at the upward unstable position. First, it is shown that the dynamic model with the proposed asymmetric Coulomb friction component characterizes better the real experimental platform of the system. Then, a feedback linearization based controller with friction compensation was designed, where theoretical results show the stability of the output trajectories. Finally, the new algorithm was experimentally compared with its version without friction compensation, showing that the new scheme yields better performance with less power consumption.

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Authors and Affiliations

Authors

Corresponding author

Correspondence to Javier Moreno-Valenzuela.

Additional information

Recommended by Associate Editor Yang Shi

Carlos Aguilar-Avelar received the M.Sc. in Digital Systems with specialization in Control Systems from the Instituto Politécnico Nacional-CITEDI, Tijuana, Mexico, in 2013, where he is currently pursuing the Ph.D. in Digital Systems at the Laboratory of Systems and Control. His research interests include the analysis and control of underactuated mechatronic systems, nonlinear control, adaptive control, and neural network-based control.

Ricardo Rodríguez-Calderón received the B.Sc. in Mechatronics Engineering from the Instituto Tecnológico de Culiacán, Culiacán, Mexico, in 2014 and the M.Sc. in Digital Systems with specialization in Control Systems from the Instituto Politécnico Nacional-CITEDI, Tijuana, Mexico, in 2015. His research interests include the design, analysis and control of underactuated mechatronic systems, robotics, and nonlinear control.

Sergio Puga-Guzmán received the Ph.D. in Digital Systems with specialization in Control Systems from the Instituto Politécnico Nacional-CITEDI, Tijuana, Mexico, in 2014. He is currently with the Tecnológico Nacional de México, Tecnológico de Tijuana, Tijuana, Mexico. His research interests include nonlinear systems, analysis and control of underactuated systems, adaptive control, and neural network-based control.

Javier Moreno-Valenzuela received the Ph.D. in Automatic Control from CICESE Research Center, Ensenada, México, in 2002. He is with the Instituto Politécnico Nacional-CITEDI, Tijuana, Mexico. His research interests include nonlinear systems and mechatronics.

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Aguilar-Avelar, C., Rodríguez-Calderón, R., Puga-Guzmán, S. et al. Effects of nonlinear friction compensation in the inertia wheel pendulum. J Mech Sci Technol 31, 4425–4433 (2017). https://doi.org/10.1007/s12206-017-0843-4

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  • DOI: https://doi.org/10.1007/s12206-017-0843-4

Keywords

  • Inertia wheel pendulum
  • Stabilization
  • Feedback linearization
  • Real-time experiment