External disturbance rejection in IDA-PBC controller for underactuated mechanical systems: From theory to real time experiments

Author

Haddad, N.K. ; Chemori, A. ; Belghith, S.

Author_Institution

Nat. Sch. of Eng. of Tunis, Univ. of Tunis El Manar, Tunis, Tunisia

fYear

2014

fDate

8-10 Oct. 2014

Firstpage

1747

Lastpage

1752

Abstract

Proving the robustness, vis-à-vis external disturbances of IDA-PBC (Interconnexion Damping Assignment, Passive Based Control) controller for underactuated mechanical systems is addressed in this paper. Some sufficient stability conditions on matched and unmatched disturbances are provided. As illustration we propose to revisit the application of IDA-PBC controller to the Inertia Wheel Inverted Pendulum (IWIP) in the presence of external disturbances. Simulations and real-time experimental results are presented as validations of the theoretical results.

Keywords

damping; nonlinear control systems; pendulums; robust control; stability criteria; wheels; IDA-PBC controller; IWIP; inertia wheel inverted pendulum; interconnexion damping assignment; matched disturbances; passive based control; sufficient stability conditions; underactuated mechanical systems; unmatched disturbances; Mathematical model; Mechanical systems; Real-time systems; Robustness; Stability analysis; Vectors; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications (CCA), 2014 IEEE Conference on

Conference_Location

Juan Les Antibes

Type

conf

DOI

10.1109/CCA.2014.6981565

Filename

6981565