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Stabilization of Reaction Wheel Pendulum on Movable Support with On-line Identification of Unknown Parameters

Alexey Bobtsov, Anton Pyrkin, Sergey Kolyubin
In paper adaptive stabilization algorithm of a reaction wheel pendulum on movable platform is proposed. Obtained hybrid control system allows stabilizing a pendulum fixed on the movable platform at the top unstable equilibrium. Task of swinging up and stabilizing of a pendulum is solved in conditions of full parametric uncertainty of a plant and constrained control. In contrast to other approaches, this algorithm has adaptive adjusting of controller’s parameters in “on-line” mode without any preliminary identification procedure. The second goal of this work is development of applications used in educational process because investigation of control theory problems with realistic plants very important for students and their experience.
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