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

Silik Y., Yaman U.

ACTUATORS, vol.9, no.4, 2020 (Peer-Reviewed Journal) identifier identifier

  • Publication Type: Article / Article
  • Volume: 9 Issue: 4
  • Publication Date: 2020
  • Doi Number: 10.3390/act9040095
  • Journal Name: ACTUATORS
  • Journal Indexes: Science Citation Index Expanded, Scopus
  • Keywords: cold gas thruster, furuta pendulum, pulse width modulation, rotary inverted pendulum, STABILIZATION, TRACKING, ATTITUDE, VALVE


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.