Balance Control of Reaction Wheel Pendulum Based on Second-order Sliding Mode Control

Rizal, Yusie and Mantala, Ronny and Rachman, Syaiful and Nurmahaludin, Nurmahaludin (2018) Balance Control of Reaction Wheel Pendulum Based on Second-order Sliding Mode Control. In: International Conference on Applied Science and Technology (iCAST), 26-28 October 2018, Manado, Indonesia.

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Abstract

This paper presents the balance control of reaction wheel pendulum system based on second-order sliding mode control. The system consists of rotating wheel and a pendulum where the rotating wheel is controlled such that the pendulum can be stabilized on its upright position. The stabilizing controller is designed based on second-order sliding mode control using supertwisting algorithm (STA). To implement and verify the designed controller, the computer simulation based on Open Dynamic Engine (ODE) is developed using Marilou AnyKode. The system parameters (c1, c2) and control gains (k1, k2) are chosen with values of 1.5, 2.0, 3.5, and 4.8, respectively. From the simulation results, it is shown that the control scheme is effectively stabilized the system.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology > TK Electrical engineering. Electronic Engineering. Nuclear engineering > TK7800 Electronics
Divisions: Jurusan Teknik Elektro > D3 Elektronika
Depositing User: Mr. Yusie Rizal
Date Deposited: 10 Apr 2019 12:57
Last Modified: 10 Apr 2019 12:57
URI: http://repository.poliban.ac.id/id/eprint/323

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