Design, implementation and control of dual axis self balancing inverted pendulum using reaction wheels

Abdullah Türkmen; M. Yusuf Korkut; Mustafa Erdem; Ömer Gönül; Volkan Sezer

Design, implementation and control of dual axis self balancing inverted pendulum using reaction wheels

Abdullah Türkmen, M. Yusuf Korkut, Mustafa Erdem, Ömer Gönül, Volkan Sezer

Department of Control and Automation Engineering

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Citations (Scopus)

Abstract

Inverted pendulum systems have an important place in practice for control problems due to their nonlinear structures. It is a very difficult task to control the orientation and speed of objects and robots which are free in three dimensions. These systems constitute the substructure of many advanced systems. Conventional actuators may not be used in such applications due to various limitations. Under these circumstances usage of reaction wheels come into prominence. Reaction wheel based systems are used for orienting, coordinating and balancing of spacecraft, transport systems, and other such systems. In this study, dual axis self-balancing reaction wheel based inverted pendulum system which is a basis for many complex systems has been designed, manufactured and controlled.

Original language	English
Title of host publication	2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	717-721
Number of pages	5
ISBN (Electronic)	9786050107371
Publication status	Published - 2 Jul 2017
Event	10th International Conference on Electrical and Electronics Engineering, ELECO 2017 - Bursa, Turkey Duration: 29 Nov 2017 → 2 Dec 2017

Publication series

Name	2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017
Volume	2018-January

Conference

Conference	10th International Conference on Electrical and Electronics Engineering, ELECO 2017
Country/Territory	Turkey
City	Bursa
Period	29/11/17 → 2/12/17

Bibliographical note

Publisher Copyright:
© 2017 EMO (Turkish Chamber of Electrical Enginners).

Funding

This work is done within the Mechatronics System Design course and is supported by Istanbul Technical University – Mechatronics Education and Research Center. Also, we would like to extend our sincere thanks to Assoc. Prof. Dr. Erdinç Altuğ who gives us opportunity to practice in Autonomous Systems Laboratory of Department of Mechanical Engineering.

Funders	Funder number
Istanbul Technical University – Mechatronics Education and Research Center

Cite this

Türkmen, A., Korkut, M. Y., Erdem, M., Gönül, Ö., & Sezer, V. (2017). Design, implementation and control of dual axis self balancing inverted pendulum using reaction wheels. In 2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017 (pp. 717-721). (2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc..

Türkmen, Abdullah ; Korkut, M. Yusuf ; Erdem, Mustafa et al. / Design, implementation and control of dual axis self balancing inverted pendulum using reaction wheels. 2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 717-721 (2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017).

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abstract = "Inverted pendulum systems have an important place in practice for control problems due to their nonlinear structures. It is a very difficult task to control the orientation and speed of objects and robots which are free in three dimensions. These systems constitute the substructure of many advanced systems. Conventional actuators may not be used in such applications due to various limitations. Under these circumstances usage of reaction wheels come into prominence. Reaction wheel based systems are used for orienting, coordinating and balancing of spacecraft, transport systems, and other such systems. In this study, dual axis self-balancing reaction wheel based inverted pendulum system which is a basis for many complex systems has been designed, manufactured and controlled.",

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Türkmen, A, Korkut, MY, Erdem, M, Gönül, Ö & Sezer, V 2017, Design, implementation and control of dual axis self balancing inverted pendulum using reaction wheels. in 2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017. 2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 717-721, 10th International Conference on Electrical and Electronics Engineering, ELECO 2017, Bursa, Turkey, 29/11/17.

Design, implementation and control of dual axis self balancing inverted pendulum using reaction wheels. / Türkmen, Abdullah; Korkut, M. Yusuf; Erdem, Mustafa et al.
2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 717-721 (2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Türkmen A, Korkut MY, Erdem M, Gönül Ö, Sezer V. Design, implementation and control of dual axis self balancing inverted pendulum using reaction wheels. In 2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 717-721. (2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017).

Design, implementation and control of dual axis self balancing inverted pendulum using reaction wheels

Abstract

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Bibliographical note

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