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.
منابع مشابه
Feedback Linearization Control of the Inertia Wheel Pendulum
In this paper, two feedback linearizing control laws for the stabilization of the Inertia Wheel Pendulum are derived: a full-state linearizing controller, generalizing the existing results in literature, with friction ignored in the description and an inputoutput linearizing control law, based on a physically motivated definition of the system output. Experiments are carried out on a laboratory...
متن کاملControl of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation
This paper deals with a control approach dedicated to stable limit cycle generation for underactuated mechanical systems. The proposed approach is based on partial nonlinear feedback linearization and dynamic control for optimal periodic reference trajectories tracking. The computation of the reference trajectories is performed in order to optimize the behavior of the whole dynamics of the syst...
متن کاملExponential Stabilization of the Inertia Wheel Pendulum Using Dynamic Surface Control
This paper considers the stabilization problem of Inertia Wheel Pendulum, a widely studied benchmark nonlinear system. It is a classical example of a flat underactuated mechanical system, for which the design of control law becomes a challenging task owing to its underactuated nature. A novel nonlinear controller design, fusing the recently introduced Dynamic Surface Control and the Control Lya...
متن کاملControlling the Strongly Damping Inertia Wheel Pendulum via Nested Saturation Functions
1, Centro de investigación en Computación del Instituto Politécnico Nacional, Av. Juan de Dios Bátiz s/n Esq. Manuel Othón de M., Unidad Profesional Adolfo López Mateos Col. San Pedro Zacatenco, A.P. 75476, México, D.F. 07700, México Phone: (52-55) 729-6000 ext. 56568, FAX: (52-55) 586-2936, email: [email protected] Escuela Superior de Cómputo del Instituto Politécnico Nacional Av. Juan de Di...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2022
ISSN: ['2405-8963', '2405-8971']
DOI: https://doi.org/10.1016/j.ifacol.2022.09.114