Nonlinear Control of the Reaction Wheel Pendulum Using Passivity-based control And Backstepping Control

Abstract

This paper presents a control logic for the inversion and stabilization of the reaction wheel pendulum. The inverted pendulum control has the applications in the fields of robotics, rocket propulsion control and self-balancing vehicles. The control logic in this paper was designed using the nonlinear control techniques. Control logic for inverting the pendulum was designed using passivity-based control and the control logic for balancing the pendulum in the inverted position was designed using backstepping control. The final control logic was designed by incorporating proper logic for switching the control between the two control logics. The simulation results are presented and explained substantiating the designed control logic.