- Title
- Design, implementation and experiments of a robust passivity-based controller for a rolling-balancing system
- Creator
- Crespo, Martin; Donaire, Alejandro; Ruggiero, Fabio; Lippiello, Vincenzo; Siciliano, Bruno
- Relation
- 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2016). Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics (Lisbon, Portugal 29-31 July, 2016) p. 79-89
- Publisher Link
- http://dx.doi.org/10.5220/0005981700790089
- Publisher
- SCITEPRESS
- Resource Type
- conference paper
- Date
- 2016
- Description
- In this paper, we present the design of a robust interconnection and damping assignment controller for a rolling-balancing system known as the disk-on-disk. The underactuation feature of this system hampers the control design, and since we consider matched disturbances, the problem becomes even more challenging. To overcome this difficulty, we propose to design first a controller to stabilize the desired equilibrium of the case where the disturbance is not present, and then we robustify this controller by adding a nonlinear PID outer loop that compensates the disturbance. Finally, we evaluate the practical applicability of the control design by implementing the controllers on a real hardware for the disk-on-disk system.
- Subject
- rolling-balance system; nonlinear control; Lyapunov methods; passivity
- Identifier
- http://hdl.handle.net/1959.13/1331187
- Identifier
- uon:26562
- Identifier
- ISBN:9789897581984
- Rights
- Copyright © 2016 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
- Language
- eng
- Full Text
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