Observer Design for an Inertia Wheel Pendulum with Static Friction

نویسندگان

چکیده

A state observer design for the inertia wheel pendulum considering static friction of actuated disc is presented. The frictional force modeled by Stribeck effect, with two separate differential equations describing sticking and non-sticking system, respectively. transition between scenarios in general determined a condition. Three proposed observers are designed both model. Depending on probability respective model given current measurement, more likely selected estimation. performance demonstrated laboratory demonstrator, where including probabilistic selection compared.

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ژورنال

عنوان ژورنال: IFAC-PapersOnLine

سال: 2022

ISSN: ['2405-8963', '2405-8971']

DOI: https://doi.org/10.1016/j.ifacol.2022.09.114