Design, Implementation and Experiments of a Robust Passivity-based Controller for a Rolling-balancing System

Martin Crespo, Alejandro Donaire, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano

Abstract

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.

References

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Paper Citation


in Harvard Style

Crespo M., Donaire A., Ruggiero F., Lippiello V. and Siciliano B. (2016). Design, Implementation and Experiments of a Robust Passivity-based Controller for a Rolling-balancing System . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 79-89. DOI: 10.5220/0005981700790089


in Bibtex Style

@conference{icinco16,
author={Martin Crespo and Alejandro Donaire and Fabio Ruggiero and Vincenzo Lippiello and Bruno Siciliano},
title={Design, Implementation and Experiments of a Robust Passivity-based Controller for a Rolling-balancing System},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={79-89},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005981700790089},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Design, Implementation and Experiments of a Robust Passivity-based Controller for a Rolling-balancing System
SN - 978-989-758-198-4
AU - Crespo M.
AU - Donaire A.
AU - Ruggiero F.
AU - Lippiello V.
AU - Siciliano B.
PY - 2016
SP - 79
EP - 89
DO - 10.5220/0005981700790089