In this paper, a third-order discontinuous integral controller is designed to jointly swing-up and robustly stabilize in finite-time the upright position of the Reaction Wheel Pendulum (RWP) system, despite some uncertainties and perturbations. To show this, a numerical estimation of the domain of attraction of the controller is used. The control algorithm produces a continuous control signal, thus reducing the usual chattering effect of the sliding-mode controllers. The theoretical results of the paper are verified by simulations and experiments in a laboratory setup.

中文翻译：

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使用不连续积分算法的反作用轮摆的联合摆动和稳定

本文设计了一种三阶不连续积分控制器，尽管存在一些不确定性和扰动，但它们可以在有限的时间内联合摆动并稳固地稳定反作用轮摆（RWP）系统的直立位置。为了显示这一点，使用了控制器吸引力域的数值估计。该控制算法产生一个连续的控制信号，从而降低了滑模控制器的通常的颤动效果。本文的理论结果通过实验室设置中的仿真和实验得到验证。