欠驱动机械系统IDA-PBC控制器的外部干扰抑制:从理论到实时实验

2014 IEEE Conference on Control Applications (CCA) Pub Date : 2014-12-11 DOI:10.1109/CCA.2014.6981565

N. K. Haddad, A. Chemori, S. Belghith

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引用次数: 15

摘要

本文研究了欠驱动机械系统的IDA-PBC (interconnecion Damping Assignment, Passive Based Control)控制器对-à-vis外部扰动的鲁棒性。给出了匹配扰动和不匹配扰动的充分稳定性条件。作为说明，我们建议重新审视IDA-PBC控制器在存在外部干扰的惯性轮倒立摆(IWIP)中的应用。仿真和实时实验结果验证了理论结果。

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External disturbance rejection in IDA-PBC controller for underactuated mechanical systems: From theory to real time experiments

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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2014 IEEE Conference on Control Applications (CCA)

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