Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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An Observer Design and Compensation of the Friction in an Inverted Pendulum using Adaptive Fuzzy Basis Functions Expansion

적응 법칙 기반의 퍼지 기초 함수를 이용한 도립진자의 마찰력 관측기 설계 및 마찰력 보상

  • 박덕기 (아주대학교 전자공학과) ;
  • 박민호 (아주대학교 전자공학과) ;
  • 좌동경 (아주대학교 전자공학과) ;
  • 홍석교 (아주대학교 전자공학과)
  • Published : 2007.04.01
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Abstract

This paper deals with the method to estimate the friction in a system. We study a nonlinear friction model to estimate the friction in an inverted pendulum and approximate the friction model using fuzzy basis functions expansion. To demonstrate the friction observer using FBFs, we derive a update rule based on the error term that is formed by the output from a real system and observer output with a friction estimate. And two compensation algorithms to improve the response of an inverted pendulum are proposed. The first method that a observer parameter is updated in on-line and the friction is compensated at the same time. The second method is to compensate the friction with observer parameter estimated priori. The two methods is compared through the experimental results.

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References

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