Approximate steering of a plate-ball system under bounded model perturbation using ensemble control

Aaron Becker, Timothy Bretl

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper we revisit the classical plate-ball system and prove this system remains controllable under model perturbation that scales the ball radius by an unknown but bounded constant. We present an algorithm for approximate steering and validate the algorithm with hardware experiments. To perform these experiments, we introduce a new version of the plate-ball system based on magnetic actuation. This system is easy to implement and, with our steering algorithm, enables simultaneous manipulation of multiple balls with different radii.

Original languageEnglish (US)
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages5353-5359
Number of pages7
DOIs
StatePublished - Dec 1 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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