In this manuscript, an adaptive control strategy is presented for the inverted pendulum motion and posture control problem. The system's complexity increases significantly in the presence of nonlinear friction. The control strategy use a Lyapunov stabilitybased online adaptation technique to guarantee asymptotic motion tracking and posture control. Moreover, an adaptive friction compensation method is proposed to cope with such uncertainty. Results for various situations highlight the achievement of the proposed scheme in compensation for external disturbance and friction nonlinearities, in the form of Coulomb friction.

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Conference 25th IEEE International Symposium on Industrial Electronics, ISIE 2016
Chaoui, H, & Yadav, S. (Sumit). (2016). Adaptive Motion and Posture Control of Inverted Pendulums with Nonlinear Friction Compensation. In IEEE International Symposium on Industrial Electronics (pp. 344–349). doi:10.1109/ISIE.2016.7744914