Swing up and stabilization of rotary inverted pendulum by using on-off type of cold gas thruster actuators

Thesis Type: Postgraduate

Institution Of The Thesis: Middle East Technical University, Graduate School of Natural and Applied Sciences, Turkey

Approval Date: 2019

Thesis Language: English


Consultant: Ulaş Yaman


In this study, swing up and stabilization of on/off type of cold gas thruster driven inverted pendulum is accomplished. First, pulse width modulator (PWM) design method is generated to obtain quasi-linear thrust output from on/off type of thruster. Than, single axis angle controller is designed. Designed angle controller and PWM scheme are tested and verified on single axis angle control test setup. Finally, an other freedom is attached to single axis test setup and rotary inverted pendulum (Furuta Pendulum) is obtained. By this way inherently unstable, under-actuated and on/off driven system is obtained. For swing up motion, energy method is applied. Balancing of the pendulum is achieved by observer based state feedback controller under small angle assumption and quasi-linear output from PWM driven thrusters.