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Article

Control of Rotary Inverted Pendulum by Using On–Off Type of Cold Gas Thrusters

by 1 and 2,*
1
Department of Control Technologies, Roketsan Inc., Ankara 06780, Turkey
2
Department of Mechanical Engineering, Middle East Technical University, Ankara 06800, Turkey
*
Author to whom correspondence should be addressed.
This paper is an extended version of the conference paper by Yusuf Silik and Ulas Yaman. Single Axis Attitude Controller Design Using Pulse Width Modulated Thruster. In Proceedings of the 20th International Conference on Research and Education in Mechatronics (REM), Wels, Austria, 23–24 May 2019.
Actuators 2020, 9(4), 95; https://doi.org/10.3390/act9040095
Received: 5 September 2020 / Revised: 18 September 2020 / Accepted: 22 September 2020 / Published: 27 September 2020
(This article belongs to the Special Issue Pneumatic Actuators for Robotics and Automation)
This article describes the control of a rotary inverted pendulum utilizing on–off-type cold gas thrusters as the actuators, which have high similarities with thruster actuated spacecrafts with slosh dynamics. The study is completed in three phases. Firstly, a Pulse Width Modulator (PWM) design method is utilized to obtain quasi-linear thrust output from the on–off-type thrusters. Then, a single axis angle controller is designed and tested on the setup along with the PWM scheme. Finally, a pendulum is connected to the other end of the platform and a rotary inverted pendulum (Furuta Pendulum) is constructed. In this way, an inherently unstable, under-actuated, on–off driven system is obtained. For the swing-up motion of the pendulum, an energy-based method is employed. Balancing of the pendulum is achieved by an observer-based state feedback controller under small angle assumption and quasi-linear outputs from the PWM driven thrusters. All of these control methodologies are realized on a real-time target machine. The pendulum is stabilized in seven seconds after five swings, which is comparable to the systems with electric motors.
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Keywords: cold gas thruster; furuta pendulum; pulse width modulation; rotary inverted pendulum cold gas thruster; furuta pendulum; pulse width modulation; rotary inverted pendulum
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MDPI and ACS Style

Silik, Y.; Yaman, U. Control of Rotary Inverted Pendulum by Using On–Off Type of Cold Gas Thrusters. Actuators 2020, 9, 95. https://doi.org/10.3390/act9040095

AMA Style

Silik Y, Yaman U. Control of Rotary Inverted Pendulum by Using On–Off Type of Cold Gas Thrusters. Actuators. 2020; 9(4):95. https://doi.org/10.3390/act9040095

Chicago/Turabian Style

Silik, Yusuf, and Ulas Yaman. 2020. "Control of Rotary Inverted Pendulum by Using On–Off Type of Cold Gas Thrusters" Actuators 9, no. 4: 95. https://doi.org/10.3390/act9040095

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