Abstract
Rotary Inverted Pendulums (RIP) are mechatronic systems that include a nonlinearity due to the frictions in the joints. RIP is the most convenient example to understand the influence of the frictions on the dynamics of the motion systems. In this paper, an adaptive friction coefficients estimation method was developed to estimate the frictions in three pendulums joints of a Rotary Triple Inverted Pendulums (RTIP) and compared with existing friction estimation models in the literature such as Non-conservative, Linear, and Non-Linear friction models. Joint accelerations were classified into three groups such as low, medium and high. The adaptive friction coefficients were optimized based on this classification of acceleration. Based on the position RMSEs obtained from each joint friction model, the adaptive friction estimation method was much better than the existing friction estimation models in the literature. Among the friction estimation models, the best results were produced by Adaptive Non-linear Friction model.
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