Identifying Friction in a Nonlinear Chaotic System Using a Universal Adaptive Stabilizer

This paper proposes a friction model parameter identification routine that can work with highly nonlinear and chaotic systems. The chosen system for this study is passively-actuated tilted Furuta pendulum, which known to have coupled model. pendulum ensure the existence of stable equilibrium configuration all its degrees freedom, link weights are only external forces applied system. A analytical derived, continuous considering static friction, dynamic viscous stribeck effect selected from literature. high-gain Universal Adaptive Stabilizer (UAS) observer designed identify parameters using joint angle measurements. methodology tested in simulation validated on an experimental setup. Despite high nonlinearity system, proven converge exact values, simulation, yield qualitative magnitudes experiments where goodness fit was around 85% average. discrepancy between results attributed limitations main advantage proposed method significant reduction computational needs time required relative conventional optimization-based routines. approach yielded more than 99% estimation while being considerably accurate optimization every test performed. One be easily adapted other models data.