Aim of the paper is the control of a disk, which is rolling without slipping on an unknown curve. After the determination of the dynamic model of the rolling disk, on which an external torque is applied, a control algorithm is proposed for the regulation of the position of the disk, i.e., of its distance along the curve from the 'initial point', to a desired value. The effectiveness of the algorithm, which does not require the complete knowledge of the dynamic model of the system (i.e., of the analytic expression of the curve), is confirmed by the reported simulation results.

Indri, M., Tornambè, A. (1997). Dynamic model and control of a rolling disk. In ECC 1997 - European Control Conference (pp.225-230). Institute of Electrical and Electronics Engineers Inc..

Dynamic model and control of a rolling disk

Tornambè, A.
1997

Abstract

Aim of the paper is the control of a disk, which is rolling without slipping on an unknown curve. After the determination of the dynamic model of the rolling disk, on which an external torque is applied, a control algorithm is proposed for the regulation of the position of the disk, i.e., of its distance along the curve from the 'initial point', to a desired value. The effectiveness of the algorithm, which does not require the complete knowledge of the dynamic model of the system (i.e., of the analytic expression of the curve), is confirmed by the reported simulation results.
4th European Control Conference, ECC 1997
bel
1997
Communaute Francaise de Belgique
Rilevanza internazionale
Settore ING-INF/04 - Automatica
English
Nonlinear control; Nonlinear dynamics; Stability; Control and Systems Engineering
Intervento a convegno
Indri, M., Tornambè, A. (1997). Dynamic model and control of a rolling disk. In ECC 1997 - European Control Conference (pp.225-230). Institute of Electrical and Electronics Engineers Inc..
Indri, M; Tornambè, A
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/2108/193674
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