An experimental study is discussed on a strategy that combines on-off and sliding mode control to swing up and control a pendulum with two reaction wheels in the upright position. The control scheme uses only one reaction wheel at a time, adapting the control law to turn off one of the control actions. The design takes into account the plant limitations, thus justifying the combination of the two strategies. The mechanical differences between the standard reaction wheel pendulum configuration and the one studied in this paper are pointed out to explain the use and the operation of the controller. Additionally, two cases are studied to verify experimentally the performance of the controller designed using low-cost hardware for real-time tests.

讨论了一项有关策略的实验研究，该策略结合了开关控制和滑模控制来摆动和控制带有两个反作用轮的直立摆。该控制方案一次仅使用一个反作用轮，以适应控制规律以关闭控制动作之一。该设计考虑了工厂的局限性，因此证明了两种策略的结合是合理的。指出了标准反作用轮摆结构与本文研究的结构之间的机械差异，以解释控制器的使用和操作。此外，还研究了两种情况，以通过实验验证使用低成本硬件进行实时测试而设计的控制器的性能。