Novel method of friction identification with application for inverted pendulum control system

• Autorzy: Balcerzak M.
• Języki publikacji: EN

Abstrakty

EN

This text covers a novel method of friction identification for control systems. The friction function in the inverted pendulum model is described by means of a cubic polynomial. The method has been tested using the data recorded on a real inverted pendulum. It has been proven that the proposed cubic model offers the same level of accuracy as the Coulomb model. However, all the difficulties caused by Coulomb's model discontinuity are omitted.

Słowa kluczowe

EN

friction; identification; Coulomb model; cubic model; inverted pendulum; control

PL

tarcie; identyfikacja; model Coulomba; model sześcienny; wahadło odwrócone; sterowanie

• Wydawca: Wydawnictwo Politechniki Łódzkiej
• Czasopismo: Mechanics and Mechanical Engineering
• Rocznik: 2018
• Tom: Vol. 22, nr 4
• Strony: 1239--1245
• Opis fizyczny: Bibliogr. 4 poz., rys., wykr.

Twórcy

autor

Balcerzak M.

• Division of Dynamics, Lodz University of Technology, ul. Stefanowskiego 1/15, 90-924 Lodz, Poland

Bibliografia

• [1] Ramsay, J.O., Hooker, G., Campbell, D.: Parameter estimation for differential equations: a generalized smoothing approach, Journal of the Royal Statistical Society: Series B (Statistical Methodology), 69(5), 741-796, 2007.
• [2] Marques, F., Flores, P., Claro, J.P., & Lankarani, H.M.: A survey and comparison of several friction force models for dynamic analysis of multibody mechanical systems, Nonlinear Dynamics, 86(3), 1407-1443, 2016.
• [3] Taylor, J.R.: Classical Mechanics, University Science Books, 2005.
• [4] Bronstein, I.: Handbook of Mathematics, Springer, 1998.

Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).