6 DOF Reaction Wheel Pendulum

Fabio Bobrow¹; Paulo Sergio Pereira da Silva¹

¹ Escola Politécnica da USP

doi:10.20906/CPS/COB-2015-0502

Resumo

In this paper, we present a different kind of reaction wheel pendulum. The main novelty is that it's articulation point consists of a ball joint that allows the pendulum to rotate around it's three axes. Furthermore, three reaction wheels are used for it's control and stabilization. First, a model of the system is obtained from Euler-Lagrange equations. After that, a control law that assure asymptotic stabilization of the system in a large domain is proposed. This system has several interesting features, both from a pedagogical standpoint as from a research standpoint. From a pedagogical standpoint, the system is non-linear and it's inputs are tightly coupled. From a research standpoint, two non-linear control techniques are considered: standard linearization and Flatness based control (exact linearization). These two different control laws are combined for obtaining a sufficiently large domain of stability. Simulation results are presented.

Palavras-chave: Inverted pendulum; Reaction wheel; Flatness based control; Exact linearization; Euler-Lagrange