Related papers: Stabilizing a spherical pendulum on a quadrotor
This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, restricted external localization, and effective obstacle…
We study dynamics of an wheeled inverted pendulum under a proportional-integral-derivative controller on horizontal, inclined and soft surfaces. An oscillatory area and conditions of the stability for the control are shown on the phase…
This paper presents, for the first time, the soft planar vertical take-off and landing (Soft-PVTOL) aircraft. This concept captures the soft aerial vehicle's fundamental dynamics with a minimum number of states and inputs but retains the…
Motor-actuated pendulums have been established as arguably the most common laboratory prototypes used in control system education because of the relevance to robot manipulator control in industry. Meanwhile, multi-rotor drones like…
This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…
The scope of inverted pendulum has been widely studied as one of the notable research with respect to standing in balance. The concept of this pendulum is similar to missile guidance, meaning that the center of drag is ahead that of…
We consider linear time-invariant dynamic systems in the single-input, single-output (SISO) framework. In particular, we consider stabilization of an inverted pendulum on a cart using a force on the cart. This system is easy to stabilize…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
Self-balancing robot is based on the principle of Inverted pendulum, which is a two-wheel vehicle balances itself up in the vertical position with reference to the ground. It consists of both hardware and software implementation. Mechanical…
Various control methods have been studied to control the position and attitude of quadrotors. There are some differences in the mathematical equations between the two types of quadrotor configurations that lead to different control…
This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links,…
This paper is focused on the dynamics and control of arbitrary number of quadrotor UAVs transporting a rigid body payload. The rigid body payload is connected to quadrotors via flexible cables where each flexible cable is modeled as a…
We present an aerial vehicle composed of a custom quadrotor with tilted rotors and a helium balloon, called SBlimp. We propose a novel control strategy that takes advantage of the natural stable attitude of the blimp to control…
Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…
We consider the hovering control problem for a class of multi-rotor aerial platforms with generically oriented propellers. Given the intrinsically coupled translational and rotational dynamics of such vehicles, we first discuss some…
This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system…
Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are…
In this paper we study an optimal control problem that is affine in two-dimensional bounded control. The problem is related to the stabilization of an inverted spherical pendulum in the vicinity of the upper unstable equilibrium. We find…
In this paper we present a geometric control law for position and line-of-sight stabilization of the nonholonomic spherical robot actuated by three independent actuators. A simple configuration error function with an appropriately defined…
The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…