Reaction wheel pendulum control using fourth‐order discontinuous integral algorithm

Summary The fourth‐order model of the reaction wheel pendulum is considered and a fourth‐order discontinuous integral algorithm is used for stabilization and tracking of the system, using a continuous control signal. The states reach the origin or a reference signal in finite‐time, even in presence...

Full description

Saved in:
Bibliographic Details
Published inInternational journal of robust and nonlinear control Vol. 31; no. 1; pp. 185 - 206
Main Authors Gutiérrez‐Oribio, Diego, Mercado‐Uribe, Ángel, Moreno, Jaime A., Fridman, Leonid
Format Journal Article
LanguageEnglish
Published Bognor Regis Wiley Subscription Services, Inc 10.01.2021
Subjects
Algorithms
Control stability
Control systems design
finite‐time convergence
higher‐order sliding‐mode control
Integrals
Liapunov functions
nonlinear control
Pendulums
Reaction wheels
Reference signals
tracking control
wheel pendulum
Online AccessGet full text

Cover

More Information
Summary:Summary The fourth‐order model of the reaction wheel pendulum is considered and a fourth‐order discontinuous integral algorithm is used for stabilization and tracking of the system, using a continuous control signal. The states reach the origin or a reference signal in finite‐time, even in presence of uncertain control coefficient and a kind of matched and unmatched uncertainties/disturbances. A homogeneous Lyapunov function is designed to ensure local finite‐time stability of the system, which can be used for designing the controller gains. Simulations and experimental results illustrate the performance and advantages of the presented algorithm.
Bibliography:Funding information
Consejo Nacional de Ciencia y Tecnología, 282013, CVU: 624679, CVU: 705765; Programa de Apoyo a Proyectos de Investigación e Innovación Tecnológica, IN115419, IN110719
ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.5268