Abstract
In 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.
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