Stabilization of the Platform around Single Axis Using Complementary Filter

Abstract

The paper deals with the stabilization of a platform rotating around a single axis with the use of an accelerometer and a gyroscope sensor. The paper presents a mechanical model of the platform, which consists of designed 3D printed parts. The electrical part of the model consists of the mentioned sensors, servomotors and a low-cost microcontroller board Arduino. The stabilization algorithm implemented on the Arduino is based on a complementary filter and a feedback controller. The used software application for the operation of the model was developed in the Matlab App designer environment and communicates with the Arduino by a serial interface. The model and obtained results can be used for the development of stabilization algorithms for more complex devices, such as the Stewart platform.