Enhanced Position Tracking of Inverted Pendulum Using Observer-Based Disturbance Compensation

Positional accuracy is crucial in target tracking for various robotic applications, where precise movement and response are essential. Geared electromechanical actuators, widely used in robotic systems, offer significant advantages but are susceptible to backlash, particularly during direction reversals. This backlash can introduce unwanted oscillations and disturbances, especially in systems with swinging loads, thereby compromising tracking performance. This study proposes a novel backlash compensation technique for inverted pendulum systems utilizing observer estimators. The proposed method effectively estimates and mitigates the disturbances caused by backlash, enhancing the system’s ability to maintain accurate target tracking. RMSE turns out to be 0.18 and settling time is quite minimal 2.4sec.Simulation results demonstrate that this approach significantly improves tracking performance, ensuring robust and reliable operation in dynamic environments.