Stabilization of inertia wheel inverted pendulum by model reference adaptive IDA-PBC: From simulation to real-time experiments

In this paper an adaptive control technique combined with the so-called IDA-PBC (Interconnexion Damping Assignment, Passivity Based Control) controller is proposed for the stabilization of a class of underactuated mechanical systems, namely, the Inertia Wheel Inverted Pendulum (IWIP). It has two degrees of freedom with one actuator. The IDA-PBC stabilizes for all initial conditions (except a set of zeros measure) the upward position of the IWIP. The efficiency of this controller depends on the tuning of several gains. Motivated by this issue we propose to automatically adapt some of these gains in order to regain performance rapidly. The effectiveness of the proposed adaptive scheme is demonstrated through numerical simulations and experimental results.