PID passivity-based control laws for joint position regulation of a self-balancing robot

The problem of joint position regulation of a self-balancing robot moving on a slope via a PID passivity-based controller is addressed in the present paper. It is assumed that the angle of the slope is known, and the robot can move up or down. The contributions are the original presentation of the design and practical implementation for comparison purposes of two PID passivity-based control laws for position regulation of a self-balancing robot, and the original proposal of the respective asymptotic stability analysis. Experimental results illustrate the performance of the proposed controllers in a self-balancing robot, which were evaluated together with a different passivity-based controller, reported in the control literature, and a linear control law to test its superiority. Finally, the experiments were extended to deal with disturbance rejection, where one of the PID passivity-based control laws, the one that does not use partial feedback linearization, showed to be better than the other three controllers used for comparison.