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Current development on using Rotary Inverted Pendulum as a benchmark for testing linear and nonlinear control algorithms
Abstract Rotary Inverted Pendulum (RIP) is an under-actuated mechanical system which is
inherently nonlinear and unstable. For decades, it has been widely used as an experimental …
inherently nonlinear and unstable. For decades, it has been widely used as an experimental …
A simplified IDA-PBC design for underactuated mechanical systems with applications
M Ryalat, DS Laila - European Journal of Control, 2016 - Elsevier
We develop a method to simplify the partial differential equations (PDEs) associated to the
potential energy for interconnection and dam** assignment passivity based control (IDA …
potential energy for interconnection and dam** assignment passivity based control (IDA …
A robust IDA-PBC approach for handling uncertainties in underactuated mechanical systems
M Ryalat, DS Laila - IEEE Transactions on Automatic Control, 2018 - ieeexplore.ieee.org
Interconnection and dam** assignment passivity-based control (IDA-PBC) is a method
that has been developed to (asymptotically) stabilize nonlinear systems formulated in the …
that has been developed to (asymptotically) stabilize nonlinear systems formulated in the …
Control of a self-balancing robot with two degrees of freedom via IDA-PBC
I Gandarilla, V Santibañez, J Sandoval - ISA transactions, 2019 - Elsevier
This paper presents an interconnection and dam** assignment passivity-based control
(IDA-PBC) to drive a self-balancing robot restricted to two degrees of freedom including the …
(IDA-PBC) to drive a self-balancing robot restricted to two degrees of freedom including the …
Integral IDA-PBC and PID-like control for port-controlled Hamiltonian systems
M Ryalat, DS Laila, MM Torbati - 2015 American Control …, 2015 - ieeexplore.ieee.org
Interconnection and dam** assignment passivity based control (IDA-PBC) has gained
increasing popularity. In this paper, we propose constructive results on integral IDA-PBC …
increasing popularity. In this paper, we propose constructive results on integral IDA-PBC …
Stabilization of underactuated systems of degree one via neural interconnection and dam** assignment–passivity based control
S Sánchez-Escalonilla, R Reyes-Báez… - 2022 IEEE 61st …, 2022 - ieeexplore.ieee.org
In this work, we show the potential of the universal approximation property of neural
networks in the design of interconnection and dam** assignment passivity-based …
networks in the design of interconnection and dam** assignment passivity-based …
Adaptive IDA-PBC for a class of UMSs: The IWIP analysis
JA Popayán, OB Cieza, J Reger - IFAC-PapersOnLine, 2019 - Elsevier
In this paper an adaptive control scheme is developed for enhancing the Interconnection
and Dam** Assignment Passivity-Based Control (IDA-PBC) technique. The primary …
and Dam** Assignment Passivity-Based Control (IDA-PBC) technique. The primary …
Control of a self-balancing robot driven by DC motors via IDA-PBC
I Gandarilla, V Santibáñez, J Sandoval - Proceedings of the 2017 The …, 2017 - dl.acm.org
The self-balancing robot is an example of underactuated mechanical systems; a class of
mechanisms which have been very popular as benchmarks for control methods in the last …
mechanisms which have been very popular as benchmarks for control methods in the last …
Stabilization of the inertia wheel inverted pendulum by advanced IDA-PBC based controllers: Comparative study and real-time experiments
A Hfaiedh, A Chemori… - 2020 17th International …, 2020 - ieeexplore.ieee.org
Interconnection and Dam** Assignment Passivity Based Control (IDA-PBC) is a popular
control scheme, for the stabilization of underactuated mechanical systems, formulated in …
control scheme, for the stabilization of underactuated mechanical systems, formulated in …