ROBUST SUPER-TWISTING SLIDING MODE CONTROL FOR BALANCING REACTION WHEEL PENDULUM

Underactuated systems are one of the emerging research topics due to their challenging problems and applications in real-world engineering systems. In this paper, we consider control problem balancing reaction wheel pendulum. Many methods have been adopted system common controls is based on sliding mode (SMC). SMC, chattering phenomenon its solution widely discussed. Several approaches proposed, for example replacing switching function, second-order higher-order SMC. Here, pendulum with disturbances considered. First, model derivation Euler-Lagrange method Second, a different approach designing controller given where feedback linearization robust super-twisting used. The performances compared those standard modified functions first-order control. For control, PID controllers employed. each controller, similar disturbances, namely, impulse signal sinusoidal used verify effectiveness controller. We conduct comparison studies Matlab/Simulink fixed controller's gains effectively stabilize upright reject external disturbances.