Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments

DOI10.1080/00207179.2017.1331378zbMath1405.93084OpenAlexW2618836636MaRDI QIDQ4611732

Nahla Khraief Haddad, Safya Belghith, Ahmed Chemori

Publication date: 21 January 2019

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://hal-lirmm.ccsd.cnrs.fr/lirmm-01719182/file/paper1_VF.pdf

zbMATH Keywords

stabilityrobustnessadaptive controlHamiltonian systemsmatched disturbancesinertia wheel inverted pendulumIDA-PBC

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Application models in control theory (93C95) Asymptotic stability in control theory (93D20) Stochastic stability in control theory (93E15) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (5)

Solution of matching equations of IDA-PBC by Pfaffian differential equations ⋮ Gain-adapting coupling control for a class of underactuated mechanical systems ⋮ From Hopf Bifurcation to Limit Cycles Control in Underactuated Mechanical Systems ⋮ LMI-based synthesis of a robust saturated controller for an underactuated mechanical system subject to motion constraints ⋮ IDA-PBC with adaptive friction compensation for underactuated mechanical systems

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