2017年9月19日 · The performance of the proposed design is shown through simulated results for attitude stabilization and trajectory following. Reverse thrust capability of variable-pitch quadrotor is also shown by performing flip maneuver in which quadrotor roll angle changes from 0 …

2023年5月23日 · This article addresses the problem of balancing an inverted spherical pendulum on a quadrotor. The full dynamic model is obtained via the Euler-Lagrange formalism, where the dynamics of the pendulum is coupled to the dynamics of the quadrotor, taking as control inputs the torques associated with the yaw, roll, and pitch dynamics, and a control ...

A model predictive control (MPC) design and implementation for a quadrotor balancing an inverted pendulum. Includes a stability analysis and an estimate of the region-of-recursive-stability.

2024年1月1日 · Three subsystems compose the quadrotor-inverted-pendulum system: (i) the pendulum translational subsystem ((1) (a), (4) (a)); (ii) the pendulum direction subsystem ((1) (b), (4) (b)); and (iii) the quadrotor attitude subsystem (1) (c). A flowchart representing the overall control structure is depicted in Fig. 2.

In this paper we demonstrate a novel solution to the inverted pendulum problem extended to UAVs, speciÞcally quadrotors. This complex system is underactuated and sensitive to small acceleration changes of the quadrotor. The solution is provided by reinforcement learning (RL), a platform commonly applied to solve nonlinear control problems.

2023年8月4日 · In this report, we present different types of controllers for the nonlinear dynamical system of quadrotor and pendulum combination, utilizing feedback-linearization and control Lyapunov function with quadratic programming (CLF-QP) approaches. We demonstrated trajectory tracking for quadrotor-only case as well as quadrotor-pendulum-combined case.

A universal inverted pendulum has been implemented by using a quadrotor with an underactuated load attached. The system can function as a flying linear and rotary inverted pendulum without any physical modification.

This paper tackles a 3D inverted pendulum stabilization problem, where the pendulum is attached on a quadrotor. We first derive the mathematical model of the quadrotor-pendulum system based on the Euler-Lagrange equation.

This paper propose the use of a cascade control method for the inverted pendulum design problem with quadro-tor as the experimental platform, which mainly uses the imu information of the quadrotor and the OptiTrack motion capture system to capture the position information of the inverted pendulum as the system feedback, and form a closed-loop ...

Recently, the ying inverted pendulum has attracted much attention worldwide. It is a nonlin-ear, under-actuated, coupled system with 8 Degrees of freedom (DOFs), i.e. a 6-DOF quadrotor and a 2-DOF inverted pendulum. ETH Flying Lab has rst investigated this problem10.