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Conference papers
External disturbance rejection in IDA-PBC controller for underactuated mechanical systems: From theory to real time experiments
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.
Cited literature [23 references]
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01722715
Contributor : Ahmed Chemori <>
Submitted on : Monday, March 5, 2018 - 8:28:55 AM
Last modification on : Tuesday, December 10, 2019 - 8:52:01 PM
Document(s) archivé(s) le : Wednesday, June 6, 2018 - 2:03:01 PM
Contributor : Ahmed Chemori <>
Submitted on : Monday, March 5, 2018 - 8:28:55 AM
Last modification on : Tuesday, December 10, 2019 - 8:52:01 PM
Document(s) archivé(s) le : Wednesday, June 6, 2018 - 2:03:01 PM
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