Stabilization of the Reaction Wheel Pendulum via a Third Order Discontinuous Integral Sliding Mode Algorithm

Abstract

In this work, the stabilization of the Reaction Wheel Pendulum using a Third Order Discontinuous Integral Sliding Mode as the control is done. The use of the discontinuous function in the integral action generates a continuous control signal and minimize the chattering effect. The states reach the origin even in presence of Lipschitz uncertain-ties/disturbances. The stability analysis is presented using a Lyapunov approach and homogeneity properties, ensuring a local finite-time convergence of the states to the origin. Simulations and experiments were made to check the performance of the presented algorithm.