Stabilization of the Reaction Wheel Pendulum via a Third Order Discontinuous Integral Sliding Mode Algorithm

In this work, the stabilization of the Reaction Wheel Pendulum using a Third Order Discontinuous Integral Sliding Mode as the control is done. The use of the discontinuous function in the integral action generates a continuous control signal and minimize the chattering effect. The states reach the o...

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Bibliographic Details
Published in2018 15th International Workshop on Variable Structure Systems (VSS) pp. 132 - 137
Main Authors Gutierrez-Oribio, Diego, Mercado-Uribe, Angel, Moreno, Jaime A., Fridman, Leonid
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2018
Subjects
Control theory
Convergence
Robustness
Sliding mode control
Stability analysis
Wheels
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Summary:In this work, the stabilization of the Reaction Wheel Pendulum using a Third Order Discontinuous Integral Sliding Mode as the control is done. The use of the discontinuous function in the integral action generates a continuous control signal and minimize the chattering effect. The states reach the origin even in presence of Lipschitz uncertain-ties/disturbances. The stability analysis is presented using a Lyapunov approach and homogeneity properties, ensuring a local finite-time convergence of the states to the origin. Simulations and experiments were made to check the performance of the presented algorithm.
ISSN:2158-3986
DOI:10.1109/VSS.2018.8460358