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

Abstract : Improving the robustness, vis-à-vis matched input disturbances of interconnection and damping assignment, passivity based control (IDA-PBC) for a class of underactuated mechanical systems is addressed in this paper. The characterised class of systems is described by a Port Controlled Hamil-tonian (PCH) model which represents another alternative to the classical Euler–Lagrange models for which IDA–PBC yields a smooth stabilising controller. Our main contribution consists of combining the so-called IDA-PBC controller with an adaptive control technique. Some sufficient stability conditions on matched input disturbances are given. In order to estimate the stability and performance robustness of both controllers, a stochastic robustness analysis was used. Indeed, we used the Monte Carlo simulation (MCS) based on uncertainties to analyse the behaviour of the closed-loop system. The comparison of the stability robustness between the classical IDA-PBC controller and the proposed one is then provided. As an illustration, we proposed to revisit the application of IDA-PBC controller to the inertia wheel inverted pendulum in the presence of matched disturbances. Simulation and real-time experimental results mirror the theoretical results and prove the efficiency of the proposed controller.
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Submitted on : Wednesday, February 28, 2018 - 8:37:41 AM
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Nahla Haddad, Ahmed Chemori, Safya Belghith. Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments. International Journal of Control, Taylor & Francis, 2017, pp.1-16. ⟨10.1080/00207179.2017.1331378⟩. ⟨lirmm-01719182⟩

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