Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments

Nahla Khraief Haddad, Ahmed Chemori, Safya Belghith
2017 International Journal of Control  
Improving the robustness, vis-à-vis matched input disturbances of IDA-PBC (Interconnection Damping Assignment, Passivity Based Control) for a class of underactuated mechanical systems is addressed in this paper. The characterized class of systems is the one for which IDA-PBC yields a smooth stabilizing controller. Our main contribution consists in combining the so-called IDA-PBC controller with an adaptive control technique. Some sufficient stability conditions on matched input disturbances are
more » ... given. The comparison of the stability robustness between the classical controller IDA-PBC and the proposed one is then provided. As illustration we propose to revisit the application of IDA-PBC controller to the Inertia Wheel Inverted Pendulum (IWIP) in the presence of matched disturbances. Simulation and real-time experimental results are presented as validations of the theoretical results.
doi:10.1080/00207179.2017.1331378 fatcat:q6w4rtizmvhzfis7ufjzrdu6xu