Output-Feedback Stabilization of the Reaction Wheel Pendulum Via Active Disturbance Rejection Control

https://doi.org/10.58571/CNCA.AMCA.2023.049

Resumen: This work presents a continuous robust control method for stabilizing the reaction wheel pendulum, despite the effect of external perturbations and using only output information. To achieve this, first, an extended high-order sliding-modes observer estimates the states and identifies the perturbations, theoretically, in finite time. Then, an active disturbance rejection scheme considers the estimated states and the identified perturbation. As a result, the closed-loop system is robust against external perturbations, and the system trajectories converge to the origin. Experimental results illustrate the performance and advantages of the presented algorithm.

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Kharuf Gutiérrez, Samy; Ferreira de Loza, Alejandra; Aguilar, Luis T.; Coria, Luis N. Output-Feedback Stabilization of the Reaction Wheel Pendulum Via Active Disturbance Rejection Control. Memorias del Congreso Nacional de Control Automático, pp. 223-228, 2023. https://doi.org/10.58571/CNCA.AMCA.2023.049

Palabras clave

Control Robusto; Control de Sistemas No Lineales; Robótica y Mecatrónica

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