| Popis: |
This paper presents the balance control of reaction wheel pendulum system based on second-order sliding mode control. The system consists of rotating wheel and a pendulum where the rotating wheel is controlled such that the pendulum can be stabilized on its upright position. The stabilizing controller is designed based on second-order sliding mode control using super twisting algorithm (STA). To implement and verify the designed controller, the computer simulation based on Open Dynamic Engine (ODE) is developed using Marilou AnyKode. The system parameters (c1, c2) and control gains (k1, k2) are chosen with values of 1.5, 2.0, 3.5, and 4.8, respectively. From simulation results, it is shown that the control scheme is effectively stabilized the system. |
