Title :
Path Following of a Rolling Disk Using Throttle Only
Author :
Notarstefano, Giuseppe ; Pasquotti, Maura ; Frezza, Ruggero
Author_Institution :
Dept. of Information Eng., Padova Univ.
Abstract :
In this paper we address the problem of controlling a disk, rolling on a horizontal plane, using only throttle as control input The disk is supposed to follow an assigned path in the plane. The problem is difficult because of the high order of underactuation and of the instability of the system. The controller is based upon an internal manifold and a receding horizon technique. By using a backstepping control technique the controller tracks a lean angle trajectory. The lean angle reference trajectory is generated at each instant through a receding horizon algorithm and it is such that, if followed, the system tracks the assigned path with a bounded error
Keywords :
discs (structures); position control; time-varying systems; backstepping control technique; instability; internal manifold; lean angle reference trajectory; path following; receding horizon technique; rolling disk control; throttle; trajectory tracking; underactuation; Backstepping; Control design; Control systems; Controllability; Joining processes; Lagrangian functions; Mechanical systems; Trajectory; Vehicle dynamics; Vehicles;
Conference_Titel :
Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation
Conference_Location :
Limassol
Print_ISBN :
0-7803-8936-0
DOI :
10.1109/.2005.1467096