Robust Position Control of a Reaction Wheel Inverted Pendulum

Title & Authors
Robust Position Control of a Reaction Wheel Inverted Pendulum
Park, Sang-Hyung; Lee, Hae-Chang; Lim, Seong-Muk; Kim, Jung-Su;

Abstract
This paper presents a robust control of a reaction wheel inverted pendulum. To this end, a mathematical model is derived using physical laws, and then parameters in the model are identified as well. Based on the model, a robust position control is designed, which consists of two parts: swing-up control using passivity and robust stabilization control using LMI (Linear Matrix Inequality). When the pendulum starts to move, the swing-up control is applied. If the position of the pendulum is near the desired upright position, the control is switched to the robust stabilization control. This robust control is employed in order to deal with the uncertainties in the inertia of the pendulum dynamics. The performance of the proposed control scheme is validated not only simulation but also real experiment.
Keywords
Inverted pendulum;Robust control;Reaction wheel;Passivity based control;
Language
Korean
Cited by
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