Comparison of methods for estimation and compensation of friction applied to an inverted pendulum

Teixeira, Hugo Tanzarella; Siqueira, Victor Semedo de Mattos; Munaro, Celso J.

doi:10.1109/icca.2011.6138033

Cited by 3 publications

(1 citation statement)

References 13 publications

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“…The figures show that the steady-state response of the system has oscillation, the so called limit cycle, which is validated both in theory and in experiment, and can be seen as steady state error. Reference [17] proposed that the presence of friction produces limits cycles. Considering one of the practical use of inverted pendulum, the electric twowheeled self-balancing vehicle, lots of efforts have been spent to reduce the existed vibration by improved control algorithm [18] or available friction compensation model.…”

Section: B Assessment On the Steady State Performance Based Onmentioning

confidence: 99%

An investigation on the design and performance assessment of double-PID and LQR controllers for the inverted pendulum

Ding

Cheng

2012

Proceedings of 2012 UKACC International Conference on Control

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The widespread application of inverted pendulum principles requires better dynamic performance and steady state performance of the inverted pendulum system. The objective of this paper is to design and investigate the time specification performance of the inverted pendulum controllers. Two control methods are proposed in this paper, an innovative double PID control method and a modern LQR (liner quadratic regulator) control method. Dynamic performance and steady state performance are investigated and compared of the two controllers. This paper proves that the LQR controller can guarantee the inverted pendulum a faster and smoother stabilizing process and with better robustness and less oscillation than the double-PID controller. The novelty of this paper is the design of the two controllers, and the adoption of limits cycles as the performance assessment method for the inverted pendulum, which not only makes the steady state performance assessment available, but also, provides an effective way for the evaluation of any equilibrium control problem with friction involved.

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Section: B Assessment On the Steady State Performance Based Onmentioning

confidence: 99%