Abstract
This paper demonstrates a new approach for model-based hybrid control of an underactuated system. The balancing of an underactuated inverted pendulum system is achieved using a reaction wheel. Specifically, a two-layer hybrid controller is proposed with control algorithms implemented into prioritized states from the calculated dynamic equations. The first layer controller uses the reaction wheel with feedback linearization to control the first priority parameter at the non-actuated joint. The second layer controller then governs the first layer controller to guide the actuated joint to reach the set point. The effectiveness of the hybrid controller on the underactuated dynamic nonlinear system is illustrated by simulations in MATLAB.
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