Stabilization of the Inertia Wheel Inverted Pendulum by Advanced IDA-PBC Based Controllers: Comparative Study and Real-Time Experiments
Abstract
Interconnection and Damping Assignment
Passivity Based Control (IDA-PBC) is a popular control
scheme, for the stabilization of underactuated mechanical
systems, formulated in Port-Controlled Hamiltonian
(PCH) structure. However, robustness enhancement of this
control approach towards external disturbances remains
an challenging and an open problem. In this paper, an
experimental comparative study between two different IDAPBC
approaches is proposed. The first controller is a
nonlinear Proportional Integral IDA-PBC, while the second
one is a model reference adaptive IDA-PBC. To evaluate the
effectiveness of both controllers, various real-time experimental
scenarios have been conducted for the stabilization
of the inertia wheel inverted pendulum. For the sake of a
fair comparison, different performance-evaluation criteria
have been proposed to quantify the control performance in
terms of convergence and energy consumption. The results
show a better performance of the nonlinear Proportional
Integral IDA-PBC controller compared to the model reference
adaptive IDA-PBC controller.
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