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

  • 제13권4호
  • /
  • Pages.335-343
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  • 2007
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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적응 법칙 기반의 퍼지 기초 함수를 이용한 도립진자의 마찰력 관측기 설계 및 마찰력 보상

An Observer Design and Compensation of the Friction in an Inverted Pendulum using Adaptive Fuzzy Basis Functions Expansion

  • 박덕기 (아주대학교 전자공학과) ;
  • 박민호 (아주대학교 전자공학과) ;
  • 좌동경 (아주대학교 전자공학과) ;
  • 홍석교 (아주대학교 전자공학과)
  • 발행 : 2007.04.01
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초록

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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참고문헌

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피인용 문헌

  1. A Derivation of the Equilibrium Point for a Controller of a Wheeled Inverted Pendulum with Changing Its Center of Gravity vol.18, pp.5, 2012, https://doi.org/10.5302/J.ICROS.2012.18.5.496