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Reaction wheel pendulum control using fourth‐order discontinuous integral algorithm
Author(s) -
GutiérrezOribio Diego,
MercadoUribe Ángel,
Moreno Jaime A.,
Fridman Leonid
Publication year - 2020
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.5268
Subject(s) - control theory (sociology) , lyapunov function , inverted pendulum , pendulum , signal (programming language) , controller (irrigation) , tracking (education) , stability (learning theory) , computer science , function (biology) , control signal , mathematics , control (management) , control system , engineering , nonlinear system , physics , mechanical engineering , psychology , agronomy , pedagogy , electrical engineering , quantum mechanics , artificial intelligence , machine learning , evolutionary biology , biology , programming language
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.