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.
Document type :
Conference papers
Complete list of metadatas

Cited literature [23 references]  Display  Hide  Download
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01722715
Contributor : Ahmed Chemori <>
Submitted on : Monday, March 5, 2018 - 8:28:55 AM
Last modification on : Saturday, May 18, 2019 - 1:30:59 AM
Long-term archiving on : Wednesday, June 6, 2018 - 2:03:01 PM

File

Appeared_MSC_14.pdf
Publisher files allowed on an open archive

Identifiers

Collections

LIRMM | CNRS | TDS-MACS | DEXTER | MIPS | UNIV-MONTPELLIER

Citation

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, Juan Les Antibes, France. pp.1747-1752, ⟨10.1109/CCA.2014.6981565⟩. ⟨lirmm-01722715⟩

Export

BibTeX TEI DC DCterms EndNote

Share

Metrics

Record views

305

Files downloads

165

Contact

CCSD