文章基本信息

标题：Robust Global Stabilization of the Third Order Reaction Wheel Pendulum System ⁎
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作者：Diego Gutiérrez-Oribio ; Ángel Mercado-Uribe ; Jaime A. Moreno 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：5111-5116
DOI：10.1016/j.ifacol.2020.12.1147
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, the global stabilization of the Reaction Wheel Pendulum, without taking into account the wheel position, is addressed despite the presence of Lipschitz disturbances and/or uncertainties in the model. Using two Second Order Continuous Sliding Modes Algorithms, the control task is performed, reaching finite-time convergence in one part of the dynamics and generating a continuous control signal. Finally, some simulations and experiments in the real systems are presented to test the proposed algorithms and compare them with a linear feedback controller.
关键词：KeywordsSliding mode controlDisturbance rejectionStability of nonlinear systems