Inverted Pendulum Nonlinear Controllers Using Two Reaction Wheels: Design and Implementation
Reaction wheels have been extensively used to control and stabilize a wide range of applications due to the angular momentum exchange that they provide to mechanical systems. However, there exist several limitations associated with actuator saturation and the presence of singularities that lead towa...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9072136/ |
| _version_ | 1818427969105821696 |
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| author | Joao Francisco Silva Trentin Samuel Da Silva Jean Marcos De Souza Ribeiro Hanspeter Schaub |
| author_facet | Joao Francisco Silva Trentin Samuel Da Silva Jean Marcos De Souza Ribeiro Hanspeter Schaub |
| author_sort | Joao Francisco Silva Trentin |
| collection | DOAJ |
| description | Reaction wheels have been extensively used to control and stabilize a wide range of applications due to the angular momentum exchange that they provide to mechanical systems. However, there exist several limitations associated with actuator saturation and the presence of singularities that lead towards the use of different controllers and devices. Recently, a new and unusual configuration using two reaction wheels was proposed and illustrated in an inverted pendulum to drive and control it using a simple and well-known PID controller. In this context, this paper improves the previous results on the same system by proposing two more sophisticated nonlinear controllers: a nonlinear proportional-derivative and a sliding mode controller. The proof of the stability of each controller is also provided, and the asymptotic stability is proven. A friction model is experimentally updated into the differential equations of the pendulum and also included for the controllers designing. A real-time application verifies the performance of the controllers using low-cost hardware. Results based on the analysis of different performance indices highlight the improvement of applying these two nonlinear control techniques comparing to the previous paper using this configuration of actuators. |
| first_indexed | 2024-12-14T14:54:10Z |
| format | Article |
| id | doaj.art-5d103665a51e4e43a36a04e851c84730 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-14T14:54:10Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-5d103665a51e4e43a36a04e851c847302022-12-21T22:57:02ZengIEEEIEEE Access2169-35362020-01-018749227493210.1109/ACCESS.2020.29888009072136Inverted Pendulum Nonlinear Controllers Using Two Reaction Wheels: Design and ImplementationJoao Francisco Silva Trentin0https://orcid.org/0000-0002-6726-8699Samuel Da Silva1https://orcid.org/0000-0001-6430-3746Jean Marcos De Souza Ribeiro2https://orcid.org/0000-0002-9197-2475Hanspeter Schaub3https://orcid.org/0000-0003-0002-6035Departamento de Engenharia Mecânica, Faculdade de Engenharia de Ilha Solteira, Universidade Estadual Paulista (UNESP), Ilha Solteira, BrazilDepartamento de Engenharia Elétrica, Faculdade de Engenharia de Ilha Solteira, Universidade Estadual Paulista (UNESP), Ilha Solteira, BrazilDepartment of Aerospace Engineering Sciences, Colorado Center for Astrodynamics Research, University of Colorado Boulder, Boulder, CO, USADepartamento de Engenharia Mecânica, Faculdade de Engenharia de Ilha Solteira, Universidade Estadual Paulista (UNESP), Ilha Solteira, BrazilReaction wheels have been extensively used to control and stabilize a wide range of applications due to the angular momentum exchange that they provide to mechanical systems. However, there exist several limitations associated with actuator saturation and the presence of singularities that lead towards the use of different controllers and devices. Recently, a new and unusual configuration using two reaction wheels was proposed and illustrated in an inverted pendulum to drive and control it using a simple and well-known PID controller. In this context, this paper improves the previous results on the same system by proposing two more sophisticated nonlinear controllers: a nonlinear proportional-derivative and a sliding mode controller. The proof of the stability of each controller is also provided, and the asymptotic stability is proven. A friction model is experimentally updated into the differential equations of the pendulum and also included for the controllers designing. A real-time application verifies the performance of the controllers using low-cost hardware. Results based on the analysis of different performance indices highlight the improvement of applying these two nonlinear control techniques comparing to the previous paper using this configuration of actuators.https://ieeexplore.ieee.org/document/9072136/Inverted pendulumlow-cost hardwarereaction wheelssliding mode control |
| spellingShingle | Joao Francisco Silva Trentin Samuel Da Silva Jean Marcos De Souza Ribeiro Hanspeter Schaub Inverted Pendulum Nonlinear Controllers Using Two Reaction Wheels: Design and Implementation IEEE Access Inverted pendulum low-cost hardware reaction wheels sliding mode control |
| title | Inverted Pendulum Nonlinear Controllers Using Two Reaction Wheels: Design and Implementation |
| title_full | Inverted Pendulum Nonlinear Controllers Using Two Reaction Wheels: Design and Implementation |
| title_fullStr | Inverted Pendulum Nonlinear Controllers Using Two Reaction Wheels: Design and Implementation |
| title_full_unstemmed | Inverted Pendulum Nonlinear Controllers Using Two Reaction Wheels: Design and Implementation |
| title_short | Inverted Pendulum Nonlinear Controllers Using Two Reaction Wheels: Design and Implementation |
| title_sort | inverted pendulum nonlinear controllers using two reaction wheels design and implementation |
| topic | Inverted pendulum low-cost hardware reaction wheels sliding mode control |
| url | https://ieeexplore.ieee.org/document/9072136/ |
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