Authors:
Martin Crespo
1
;
Alejandro Donaire
2
;
Fabio Ruggiero
3
;
Vincenzo Lippiello
3
and
Bruno Siciliano
3
Affiliations:
1
Universidad Nacional de Rosario and CONICET, Argentina
;
2
Università degli Studi di Napoli Federico II, The University of Newcastle and University Drive, Italy
;
3
Università degli Studi di Napoli Federico II, Italy
Keyword(s):
Rolling-ballancing System, Nonlinear Control, Lyapunov Methods, Passivity.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Nonlinear Signals and Systems
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
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.