LAUSR

Abstract In this paper an adaptive control scheme is developed for enhancing the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) technique. The primary objective of the adaptive component is to stabilize a class of Underactuated Mechanical Systems (UMSs) in the presence of uncertainties that are not necessarily matched. This class of UMSs is characterized by the solvability of the IDA-PBC matching condition and an additional adaptive condition. We analyze the asymptotic stability behavior of the Inertia Wheeled Inverted Pendulum (IWIP) under three types of uncertainties: input disturbance, physical damping (friction) and parameter uncertainties in the total energy of the system. Simulations illustrate the effectiveness of the approach.