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Swing Up Control Strategies for a Reaction Wheel Pendulum

Srinivas, K.N. and Behera, Laxmidhar (2008) Swing Up Control Strategies for a Reaction Wheel Pendulum. International Journal of System Science, 39 (12). pp. 1165-1177. [Journal article]

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DOI: 10.1080/00207720802095137


Control of a reaction wheel pendulum, a prototype of an under-actuated system, is easily done using switching control strategies, which combines swing-up control and balancing control schemes. In this article, two novel swing-up control strategies for a reaction wheel pendulum have been proposed. The first swing-up control strategy treats the oscillations of the pendulum as perturbations from the bottom equilibrium point. The second swing-up control is based on interconnection and damping assignment-passivity based control (IDA-PBC). IDA-PBC preserves Euler Lagrangian structure of the system and gives more physical insight about any mechanical system. Any balancing controller can be coupled with the proposed swing-up control strategies to stabilise the pendulum at the top unstable equilibrium position. The control task of balancing the pendulum in top upright position is completed by switching from swing-up scheme to the balancing scheme at the point where the pendulum is very near to the top equilibrium point. Proposed swing-up control strategies have been implemented in real time in switching mode. The two proposed swing-up control schemes provide fast responses as compared to existing energy based schemes.

Item Type:Journal article
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute > Intelligent Systems Research Centre
Computer Science Research Institute
ID Code:21185
Deposited By: Dr Laxmidhar Behera
Deposited On:05 Mar 2012 12:47
Last Modified:05 Mar 2012 12:47

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