We revisit a previous high-low gain control idea for a 4 DOF spherical inverted pendulum using a different approach that provides explicit tuning rules to deal with certain bounded external disturbance. To this end, we propose a design method, inspired by a nested saturation design procedure proposed by Marconi and Isidori, to design some low and high gain controllers to two decoupled subystems of the original system, where explicit tuning rules are given to make two feedback interconnected subsystems satisfying ISS from external disturbances. The update controller is a robust, decentralized and ``global" controller.
High-Low Gain Redesign for a 4 DOF Spherical Inverted Pendulum / G. Liu; L. Marconi. - STAMPA. - (2008), pp. 1-6. (Intervento presentato al convegno IFAC World Congress tenutosi a Seoul, Korea nel July 6-11 2008).
High-Low Gain Redesign for a 4 DOF Spherical Inverted Pendulum
MARCONI, LORENZO
2008
Abstract
We revisit a previous high-low gain control idea for a 4 DOF spherical inverted pendulum using a different approach that provides explicit tuning rules to deal with certain bounded external disturbance. To this end, we propose a design method, inspired by a nested saturation design procedure proposed by Marconi and Isidori, to design some low and high gain controllers to two decoupled subystems of the original system, where explicit tuning rules are given to make two feedback interconnected subsystems satisfying ISS from external disturbances. The update controller is a robust, decentralized and ``global" controller.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
