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

Nahla Khraief Haddad 1 Ahmed Chemori 2 Safya Belghith 1
1 LR-RISC-ENIT - Robotique, Informatique et Systèmes Complexes
ENIT - Ecole Nationale d'Ingénieurs de Tunis
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
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Nahla Khraief Haddad, Ahmed Chemori, Safya Belghith. External disturbance rejection in IDA-PBC controller for underactuated mechanical systems: From theory to real time experiments. CCA: Conference on Control Applications, Oct 2014, Antibes, France. ⟨10.1109/CCA.2014.6981565⟩. ⟨lirmm-01722715⟩

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