Two adaptive control strategies for trajectory tracking of the inertia wheel pendulum: neural networks vis à vis model regressor

Self-generated limit cycle tracking of the underactuated inertia wheel inverted pendulum under IDA-PBC

“…However, in the third scenario, we will consider the external disturbance. We recall that the dynamics of the IWIP under parametric uncertainties in the friction coefficients δ 1 and δ 2 and subject to the external disturbing torque ζ is given by (17). The reference model generating the desired period-1 stable limit cycle is always the nominal one given by the dynamics (16).…”

“…They estimated the friction parameters in order to calculate the friction compensation term. Some other works were realized on the control of inverted pendulums [17,[37][38][39][40].…”

“…δ 1 = δ 2 = 0. We recall that the dynamics of the controlled IWIP under the disturbance ζ is given by (17). This disturbance is applied on the pendulum body.…”

“…Recently, the interest in the control problem of underactuated mechanical systems has increased due to their complexity and applications. Several kinds of underactuated mechanical systems exist in literature such as the double inverted pendulum, the rotational inverted pendulum, the Furuta pendulum, the cartpendulum system, the wheeled inverted pendulum, the flywheel inverted pendulum, among others [11][12][13][14][15][16][17][18]. In general, inverted pendulums are very suitable to illustrate many ideas in automatic control of nonlinear systems.…”

“…A special underactuated mechanical system is the Inertia Wheel Inverted Pendulum (IWIP), which has two degrees of freedom with only one actuator [19,20]. Such underactuated mechanical system has attracted the attention of several researchers in robotics and control system engineering where several control strategies have been designed (see for example [11][12][13][14][15][16][17] and references therein). The most recognized works are those based on the energy point-of-view.…”