Effect of Dry Friction on Bifurcation Diagram of Furuta Pendulum

Open access


Traditionally, the Furuta pendulum was used for testing advanced control strategies on a simple nonlinear and underactuated structure. In this paper, we investigate analytically and experimentally the dynamical description of the Furuta pendulum focusing on the effect of dry friction on a special bifurcation behaviour of the downward equilibrium position.

[1] K. Furuta, M. Yamakita, S. Kobayashi. Swing up control of inverted pendulum. In Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON’91., 1991 International Conference on, IEEE, 1991, 2193 – 2198.

[2] K. Furuta, M. Yamakita, S. Kobayashi. Swing-up control of inverted pendulum using pseudo-state feedback. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 1992 (206), No. 4, 263 – 269.

[3] M. Mates, D. Nyeky, M. Honek, B. Rohaľ-Ilkiv. Control of inverted pendulum laboratory system using stepper motor. Journal of Mechanical Engineering – Strojnícky časopis 2009 (60), No 4., 211 – 220.

[4] B. S. Cazzolato, Z. Prime. On the dynamics of the furuta pendulum. Journal of Control Science and Engineering 2011, p. 8. Article ID 528341. DOI: 10.1155/2011/528341

[5] M. B. Vizi, G. Stepan. Experimental Bifurcation Diagram of Furuta Pendulum, Paper No. DSCC2018-9030, ASME 2018 DSCC Atlanta, Georgia, USA, Sept. 30-Okt 4., 2018.

[6] J. Stein, R. Chmúrny. Comparison of phenomenological methods for dry-friction simulation of an oscillatory system under random excitation. Journal of Mechanical Engineering – Strojnícky časopis 2012 (63), No 5 – 6, 261 – 276.

[7] J. M. T. Thompson, H. B. Stewart. Nonlinear dynamics and chaos. John Wiley & Sons, 2002.

Journal Information


All Time Past Year Past 30 Days
Abstract Views 0 0 0
Full Text Views 131 131 11
PDF Downloads 70 70 8