A nonlinear optimal control approach for the spherical robot

Gerasimos Rigatos*, Krishna Busawon, Jorge Pomares, Patrice Wira, Masoud Abbaszadeh

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

A nonlinear H-infinity (optimal) control approach is developed for the problem of the control of the spherical rolling robot. The solution of such a control problem is a nontrivial case due to underactuation and strong nonlinearities in the system's state-space description. The dynamic model of the robot undergoes approximate linearization around a temporary operating point which is recomputed at each time-step of the control method. The linearization relies on Taylor series expansion and on the computation of the system's Jacobian matrices. For the linearized dynamics of the spherical robot an H-infinity controller is designed. To compute the controller's feedback gains an algebraic Riccati equation in solved at each iteration of the control algorithm. The global asymptotic stability properties of the control method are proven through Lyapunov analysis. Finally, for the implementation of sensorless control for the spherical rolling robot, the H-infinity Kalman Filter is used as a robust state estimator.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2496-2501
Number of pages6
ISBN (Electronic)9781509066841
ISBN (Print)9781509066858
DOIs
Publication statusPublished - 31 Dec 2018
Event44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 - Washington, United States
Duration: 20 Oct 201823 Oct 2018

Conference

Conference44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
CountryUnited States
CityWashington
Period20/10/1823/10/18

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