Modeling and control with friction compensation of a pendubot system
The pendubot is a two degree of freedom mechanical underactuated system that is used as an educational and research platform in the areas of robotics and control. It is considered as an underactuated system because it has only one control input. Although several control laws have been applied to st...
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| Format: | Article |
| Language: | Spanish |
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Universitat Politècnica de València
2020-12-01
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| Series: | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| Subjects: | |
| Online Access: | https://polipapers.upv.es/index.php/RIAI/article/view/13083 |
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| author | I. Soto R. Campa S. Sánchez-Mazuca |
| author_facet | I. Soto R. Campa S. Sánchez-Mazuca |
| author_sort | I. Soto |
| collection | DOAJ |
| description | The pendubot is a two degree of freedom mechanical underactuated system that is used as an educational and research platform in the areas of robotics and control. It is considered as an underactuated system because it has only one control input. Although several control laws have been applied to stabilize the pendubot, most of them neglect the effects of friction. In this article, the analysis is different, since it is considered a pendubot system in which the actuated joint has a significant amount of friction that cannot be neglected. First, we review some of the existing friction models in the literature, including one that was recently proposed by the authors. Then we describe the implementation of some stabilization controllers that compensate for the effects of friction. Finally, an exhaustive comparison of the presented friction compensators is made to improve the performance of a real pendubot system. |
| format | Article |
| id | doaj-art-1f6f1360ca914eac93596d15173c4d4c |
| institution | Kabale University |
| issn | 1697-7912 1697-7920 |
| language | Spanish |
| publishDate | 2020-12-01 |
| publisher | Universitat Politècnica de València |
| record_format | Article |
| series | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| spelling | doaj-art-1f6f1360ca914eac93596d15173c4d4c2024-12-02T02:00:44ZspaUniversitat Politècnica de ValènciaRevista Iberoamericana de Automática e Informática Industrial RIAI1697-79121697-79202020-12-01181394710.4995/riai.2020.130838282Modeling and control with friction compensation of a pendubot systemI. Soto0R. Campa1S. Sánchez-Mazuca2Universidad Autónoma de Ciudad Juárez, Instituto de Ingeniería y TecnologíaTecnológico Nacional de México, Instituto Tecnológico de la LagunaUniversidad Autónoma del Noreste, Campus Piedras NegrasThe pendubot is a two degree of freedom mechanical underactuated system that is used as an educational and research platform in the areas of robotics and control. It is considered as an underactuated system because it has only one control input. Although several control laws have been applied to stabilize the pendubot, most of them neglect the effects of friction. In this article, the analysis is different, since it is considered a pendubot system in which the actuated joint has a significant amount of friction that cannot be neglected. First, we review some of the existing friction models in the literature, including one that was recently proposed by the authors. Then we describe the implementation of some stabilization controllers that compensate for the effects of friction. Finally, an exhaustive comparison of the presented friction compensators is made to improve the performance of a real pendubot system.https://polipapers.upv.es/index.php/RIAI/article/view/13083modeladocontrolfriccióncompensaciónsistemas mecánicos |
| spellingShingle | I. Soto R. Campa S. Sánchez-Mazuca Modeling and control with friction compensation of a pendubot system Revista Iberoamericana de Automática e Informática Industrial RIAI modelado control fricción compensación sistemas mecánicos |
| title | Modeling and control with friction compensation of a pendubot system |
| title_full | Modeling and control with friction compensation of a pendubot system |
| title_fullStr | Modeling and control with friction compensation of a pendubot system |
| title_full_unstemmed | Modeling and control with friction compensation of a pendubot system |
| title_short | Modeling and control with friction compensation of a pendubot system |
| title_sort | modeling and control with friction compensation of a pendubot system |
| topic | modelado control fricción compensación sistemas mecánicos |
| url | https://polipapers.upv.es/index.php/RIAI/article/view/13083 |
| work_keys_str_mv | AT isoto modelingandcontrolwithfrictioncompensationofapendubotsystem AT rcampa modelingandcontrolwithfrictioncompensationofapendubotsystem AT ssanchezmazuca modelingandcontrolwithfrictioncompensationofapendubotsystem |