Augmenting Self-Stability: Height Control of a Bernoulli Ball via Bang-Bang Control
Toby Howison,Fabio Giardina,Fumiya Iida,Toby Howison,Fabio Giardina,Fumiya Iida
Mechanical self-stability is often useful for controlling systems in uncertain and unstructured environments because it can regulate processes without explicit state observation or feedback computation. However, the performance of such systems is often not optimised, which begs the question how their dynamics can be naturally augmented by a control law to improve performance metrics. We propose a ...
