Robust Global Stabilization of the Third Order Reaction Wheel Pendulum System

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.