Improving the robustness, vis-à-vis matched input disturbances of IDA-PBC (Interconnection Damping Assignment, Passivity Based Control) for a class of underactuated mechanical systems is addressed in this paper. The characterized class of systems is the one for which IDA-PBC yields a smooth stabilizing controller. Our main contribution consists in combining the so-called IDA-PBC controller with an adaptive control technique. Some sufficient stability conditions on matched input disturbances are given. The comparison of the stability robustness between the classical controller IDA-PBC and the proposed one is then provided. As illustration we propose to revisit the application of IDA-PBC controller to the Inertia Wheel Inverted Pendulum (IWIP) in the presence of matched disturbances. Simulation and real-time experimental results are presented as validations of the theoretical results.
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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