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billtubbs / gym-CartPole-bt-v0

A modified version of the cart-pole OpenAI Gym environment for testing different control policies
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How about adding 'sticktion'? #7

Open billtubbs opened 3 years ago

billtubbs commented 3 years ago

'Sticktion' is the static friction that needs to be overcome to enable relative motion of stationary objects in contact.

This would be a very non-linear (also non-smooth) disturbance where pendulum axis joint becomes 'stuck' if the angular velocity drops below a small threshold and the torque is low. A slightly higher torque is then needed to 'free' the joint. I think there are some simple coefficients and formulas to implement sticktion.

billtubbs commented 3 years ago

Another non-linear effect which is common in mechanical systems would be some 'looseness' or hysteresis in the drive system. Perhaps a first order dynamic with a very short time constant.