Stabilization of the Inertia Wheel Inverted Pendulum by Advanced IDA-PBC Based Controllers: Comparative Study and Real-Time Experiments

Hfaiedh, Afef; Chemori, Ahmed; Abdelkrim, Afef

doi:10.1109/ssd49366.2020.9364159

Cited by 4 publications

(3 citation statements)

References 31 publications

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“…2, was widely considered as an academic system to implement new control approaches. It includes an inverted pendulum equipped with a rotating wheel [29].…”

Section: The Inertia Wheel Inverted Pendulummentioning

confidence: 99%

“…the vector of generalized forces associated with i. The total kinetic energy T is decomposed into pendulum energy and inertia wheel energy [11,26,29]:…”

Section: The Inertia Wheel Inverted Pendulummentioning

confidence: 99%

“…where -θ ̈1and θ ̈2 are respectively the acceleration of the pendulum body and the acceleration of the inertia wheel; -τ2 is the torque induced by the motor while τ1 is the disturbing torque which is assumed to be zero [11,29]. Table 1 presents the summary of the geometric and dynamic parameters of the system.…”

Section: The Inertia Wheel Inverted Pendulummentioning

confidence: 99%

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Apprentissage De Commande Pour Le Suivi De Trajectoire d'UN Pendule Inversé À Roue d'INERTIE Non Linéaire

SAIDI,

TOUATI

2023

RRST-EE

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Cet article propose le contrôle d'apprentissage itératif pour les systèmes sous-actionnés non linéaires. Pour améliorer la vitesse de convergence du contrôle d'apprentissage itératif pour de tels systèmes et réduire la fluctuation de l'erreur du système, un algorithme de contrôle d'apprentissage itératif en boucle fermée de type D à gain variable exponentiel a été choisi. L'analyse de simulation MATLAB a ensuite été réalisée sur un système sous-actionné, non linéaire et instable, à savoir le pendule inversé à roue d'inertie. Les résultats de la simulation montrent que l'algorithme est efficace. De bonnes performances de suivi ont été obtenues. Le système converge vers des cycles limites stables après quelques itérations, garantissant des erreurs fluides et une vitesse de convergence satisfaisante.

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“…2, was widely considered as an academic system to implement new control approaches. It includes an inverted pendulum equipped with a rotating wheel [29].…”

Section: The Inertia Wheel Inverted Pendulummentioning

confidence: 99%

“…the vector of generalized forces associated with i. The total kinetic energy T is decomposed into pendulum energy and inertia wheel energy [11,26,29]:…”

Section: The Inertia Wheel Inverted Pendulummentioning

confidence: 99%

See 1 more Smart Citation

Apprentissage De Commande Pour Le Suivi De Trajectoire d'UN Pendule Inversé À Roue d'INERTIE Non Linéaire

SAIDI,

TOUATI

2023

RRST-EE

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Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

Hfaiedh

Chemori²,

Abdelkrim

2021

Transactions of the Institute of Measurement and Control

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In this paper, the control problem of a class I of underactuated mechanical systems (UMSs) is addressed. The considered class includes nonlinear UMSs with two degrees of freedom and one control input. Firstly, we propose the design of a robust integral of the sign of the error (RISE) control law, adequate for this special class. Based on a change of coordinates, the dynamics is transformed into a strict-feedback (SF) form. A Lyapunov-based technique is then employed to prove the asymptotic stability of the resulting closed-loop system. Numerical simulation results show the robustness and performance of the original RISE toward parametric uncertainties and disturbance rejection. A comparative study with a conventional sliding mode control reveals a significant robustness improvement with the proposed original RISE controller. However, in real-time experiments, the amplification of the measurement noise is a major problem. It has an impact on the behaviour of the motor and reduces the performance of the system. To deal with this issue, we propose to estimate the velocity using the robust Levant differentiator instead of the numerical derivative. Real-time experiments were performed on the testbed of the inertia wheel inverted pendulum to demonstrate the relevance of the proposed observer-based RISE control scheme. The obtained real-time experimental results and the obtained evaluation indices show clearly a better performance of the proposed observer-based RISE approach compared to the sliding mode and the original RISE controllers.

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A revisited adaptive super-twisting control of underactuated mechanical systems: Design and experiments

Hfaiedh,

Chemori,

Abdelkrim

2024

Transactions of the Institute of Measurement and Control

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This paper presents a real-time implementation of an adaptive super-twisting (ASTW) controller. This work deals with the stabilization challenging problems of underactuated mechanical system subject to parametric variations and state- and time-dependent disturbances. Due to the low number of control inputs compared to the number of DOFs, the proposed approach has been designed based on an explicit global change of coordinates. The stability analysis of the resulting closed-loop system was performed based on Lyapunov’s theory. Extensive experimental investigations were conducted on the inertia wheel inverted pendulum (IWIP) to demonstrate the robustness of the proposed solution. These experiments include a real-time comparison with existing control solutions from the literature, providing a detailed analysis of performance, effectiveness, and robustness under various conditions. Quantitative evaluations were carried out based on different performance criteria, highlighting the practical applicability and superiority of the proposed control strategy in real-time scenarios. The results from both numerical simulations and physical experiments demonstrate the controller’s capability to maintain stability and performance despite the presence of disturbances and parametric variations.

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Stabilization of the Inertia Wheel Inverted Pendulum by Advanced IDA-PBC Based Controllers: Comparative Study and Real-Time Experiments

Cited by 4 publications

References 31 publications

Apprentissage De Commande Pour Le Suivi De Trajectoire d'UN Pendule Inversé À Roue d'INERTIE Non Linéaire

Apprentissage De Commande Pour Le Suivi De Trajectoire d'UN Pendule Inversé À Roue d'INERTIE Non Linéaire

Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

A revisited adaptive super-twisting control of underactuated mechanical systems: Design and experiments

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