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Fabrication and Stabilization of a Low-Cost Rotary-Inverted Pendulum Setup (STRIPS 1.0): Using Full-State Feedback Algorithm
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Author(s): Tufail Ahmad Bhat (Islamic University of Science and Technology, India)and Majid Hameed Koul (Department of Mechanical Engineering, Islamic University of Science and Technology, India)
Copyright: 2023
Pages: 18
Source title:
Trends, Paradigms, and Advances in Mechatronics Engineering
Source Author(s)/Editor(s): Mohamed Arezki Mellal (M'Hamed Bougara University, Algeria)
DOI: 10.4018/978-1-6684-5887-7.ch011
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Abstract
This paper presents the fabrication and Stabilization of a low-cost in-house developed Rotary Inverted Pendulum Setup (STRIPS 1.0), commonly known as a Furuta Pendulum. The developed setup consists of a base frame on which an arm is mounted to allow rotary motion in the horizontal plane and a pendulum link subsequently mounted on the other end of the arm to allow rotation in the vertical plane. Essentially the setup possesses 2- DOF (Degrees of Freedom); however, since the actuation is provided at the arm axis only, the setup behaves as an under-actuated one. Owing to the inherently unstable nature of these under-actuated systems, full-state feedback and an LQR (Linear Quadratic Regulator) controller are designed and implemented, which maintain the pendulum link in the upright position even if disturbed about its linear region of control. In particular, a set of gains are chosen for a particular performance criterion and implemented using a MATLAB interface with the micro-controller on the developed setup, allowing a restricted arm movement.
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