Stabilization of a cart-inverted pendulum with interconnection and damping assignment passivity-based control focusing on the kinetic energy shaping

Abstract

Interconnection and damping assignment passivity-based control (IDA-PBC) is a nonlinear control method which stabilize a system shaping its total energy and utilizing passivity. In previous studies, IDA-PBC is shown to be a powerful method to stabilize underactuated mechanical systems. However, the transient performances tend to be slow. In this study, IDA-PBC is applied for a cart-inverted pendulum and free parameters in a closed-loop inertia matrix which have not been used in the previous studies are considered. This means modifying the kinetic energy more actively. We show that the transient performances of the IDA-PBC can be improved with the active modification of the kinetic energy and suitable parameter selection theoretically estimating large domain of attraction.