Control of Nonprehensile Planar Rolling Manipulation: A Passivity-Based Approach
Control of Nonprehensile Planar Rolling Manipulation: A Passivity-Based Approach
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非抓取平面滚动操纵的控制：一种基于被动的方法
DOI：
10.1109/tro.2018.2887356
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发表时间：
2019
影响因子：
7.8
通讯作者：
B. Siciliano
中科院分区：
文献类型：
--
作者：
Diana Serra;Fabio Ruggiero;A. Donaire;L. Buonocore;V. Lippiello;B. Siciliano
本文提出了一种在基于无源性的端口哈密尔顿框架内使用经典互连和阻尼分配技术来设计控制律的新程序。寻求的目标是降低求解所谓匹配方程的复杂性。所提出的方法应用于平面滚动非抓握操纵的两个案例研究，即球梁和偏心盘对盘。通过仿真和实验结果说明了所得控制器的性能，显示了该设计在实际设置中的适用性。
This paper presents a new procedure to design a control law using the classical interconnection and damping assignment technique within the passivity-based port-Hamiltonian framework. The sought goal is to reduce the complexity of solving the so-called matching equations. The proposed approach is applied to two case studies of planar rolling nonprehensile manipulation, namely, the ball-and-beam and the eccentric disk-on-disk. The performance of the resulting controllers is illustrated through both simulations and experimental results, showing the applicability of the design in a real setup.