Abstract: Control design methods for the control of the reaction wheel pendulum using a single actuator are presented in this paper.

The reaction wheel pendulum is one of the simplest nonlin- ear underactuated systems. It is a pendulum with a rotating wheel at the end which is free to ...

The paper deals with the problem of controlling the pendulum mechanisms with the Hamiltonian formalism and proposes an algorithm for achieving equal energy ...

The stability analysis is presented using a Lyapunov approach and homogeneity properties, ensuring a local finite-time convergence of the states to the origin.

In this study, first mathematical and mechanical designs for a dual-axis reaction wheel pendulum are obtained and then some classical and intelligent control ...

Abstract — In the paper an adaptive stabilization algorithm of a reaction wheel pendulum on a movable platform is proposed. Obtained hybrid control system ...

This paper deals with the global stabilization of the reaction wheel pendulum (RWP) in the discrete-time domain. The discrete-inverse optimal control approach ...

For the swingup problem we discuss an energy approach based on collocated partial feedback linearization, and passivity of the resulting zero dynamics. A hybrid ...

Control laws are designed to stabilize three unstable equilibriums of a planar double link pendulum. A flywheel, actuated by an electrical drive equips the ...

The potential energy of the reaction wheel pendulum is obtained as follows. P = (m1L1 + m2L2)g cos 𝜃. (2.2). The Lagrange function L is expressed by ...