Safe Control of a Reaction Wheel Pendulum Using Control Barrier Function

Safe Control of a Reaction Wheel Pendulum Using Control Barrier Function

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This paper presents a safe control applied to a reaction Stamping wheel pendulum, assuring that the system satisfies stability objectives and safety constraints.Safety constraints are specified in terms of a set invariance and verified through control barrier functions (CBFs).The existence of a CBF satisfying specific conditions implies set invariance.The control framework considered unifies stability objectives, expressed as a nominal control law, and safety constraints, expressed as a CBF, through quadratic programming (QP).The work focuses on safety; thus, the nominal control law applied was a simple linear quadratic regulator (LQR).

The safety constraint is considered to guarantee that the pendulum angular position lunchbag never exceeds a predetermined value.The control framework was applied and analyzed considering continuous-time and discrete-time situations.The results from numerical simulations and experimental tests indicate that the pendulum is well stabilized while satisfying a safety constraint when forced to leave the safe set.