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

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

An Improved Passivity-based Control of Electrostatic MEMS Device

“…By utilizing the coordinate transformations and introducing integral control along with damping injection, stabilization and performance enhancement as well as robustness of the system against disturbances are obtained. Additionally, designing the controller by coordinate transformations was also used in the studies [ 26 , 27 ]. In [ 25 ], a coupling was introduced in the interconnection matrix in a magnetic levitation system to enhance the coupling between the mechanical subsystem (the momentum coordinate) and the electrical subsystem (the flux coordinate).…”