Passivity-Based Control Design and Experiments for a Rolling-Balancing System
- Resource Type
- Authors
- Fabio Ruggiero; Vincenzo Lippiello; Bruno Siciliano; Alejandro Donaire; Martin Crespo
- Source
- Informatics in Control, Automation and Robotics ISBN: 9783319550107
ICINCO (Selected Papers)
- Subject
- Underactuation
Control theory
Computer science
Control system
Passivity
Stability (learning theory)
Function (mathematics)
Nonlinear control
Energy (signal processing)
- Language
- English
In this chapter we present the design and implementation of a robust passivity-based controller for a rolling-balancing system known as the disk-on-disk. The control design aims to asymptotically stabilize the desired equilibrium of the disk-on-disk by shaping the energy function of the system and injecting damping. This first design is further augmented by the addition of a nonlinear PID controller to compensate for disturbances. We incorporate in the nonlinear PID the possibility of stabilizing either a set-point of angular positions of the disks or their angular velocities while keeping the balance of the system. Although the underactuation feature of the system and the disturbances hamper the control design, we show that the passivity-based framework offers the necessary tools to prove the desired stability properties of the close loop. Finally, we evaluate the practical applicability of the control design by implementing the controller on a real hardware for the disk-on-disk system and asses the performance of the control system.