Title :
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
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;
Conference_Titel :
Control Applications (CCA), 2014 IEEE Conference on
Conference_Location :
Juan Les Antibes
DOI :
10.1109/CCA.2014.6981565
