Fabrication and control of an in-house developed reaction wheel-based inverted pendulum for education and experimentation

Abstract

This work centers on the fabrication and control of an in-house developed reaction wheel-based inverted pendulum (RWIP) as an educational resource for teaching control systems and introducing under-actuated systems to undergraduate engineering students. Initially, we delve into the kinematic and dynamic analysis of the RWIP, treating it as a two-link under-actuated robot, to provide a theoretical understanding of the system. Subsequently, we elucidate the fabrication steps for the RWIP, utilizing cost-effective materials and 3D printing technology. Following that, we demonstrate the simulation and experimental deployment of a Proportional-Integral-Derivative (PID) controller for the stabilization of the RWIP. Additionally, we implement another control strategy, the Double-PID (DPID) controller, to enhance the stability and performance of the RWIP. Through the provision of an economical and tailor-made RWIP platform, the primary goal of this study was to empower students to acquire practical experience in control systems, foster innovation in the development of control algorithms, and spark interest in future research endeavors in this field.