Related papers: Stabilizing a spherical pendulum on a quadrotor
This study has developed a fault-tolerant controller that is able to recover a quadrotor from arbitrary initial orientations and angular velocities, despite the complete failure of a rotor. This cascaded control method includes a…
Utilizing a servo to tilt each rotor transforms quadrotors from underactuated to overactuated systems, allowing for independent control of both attitude and position, which provides advantages for aerial manipulation. However, this…
This paper presents an instability result of Hamiltonian systems associated with optimal swing-up control for a pendulum. The systems possess weak (higher-order) instability at the initial point of the swing-up control, the analysis for…
Safe control for inherently unstable systems such as quadrotors is crucial. Imposing multiple dynamic constraints simultaneously on the states for safety regulation can be a challenging problem. In this paper, we propose a quadratic…
Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…
This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear…
Stabilization of a quadrotor without a controller based on cascade structure is a challenging problem. Besides, due to the dynamics and the number of underactuation, an energy shaping controller has not been designed in 3D for a quadrotor.…
Designing robust controllers for precise trajectory tracking with quadrotors is challenging due to nonlinear dynamics and underactuation, and becomes harder with flexible cable-suspended payloads that add degrees of freedom and hybrid…
This paper provides new results for control of complex flight maneuvers for a quadrotor unmanned aerial vehicle (UAV). The flight maneuvers are defined by a concatenation of flight modes or primitives, each of which is achieved by a…
This paper presents the design of a geometric trajectory tracking controller for the cooperative task of two quadrotor UAVs (unmanned aerial vehicles) carrying and transporting a rigid bar, which is attached to the quadrotors via inflexible…
This paper investigates the application of a Model Predictive Controller (MPC) for the cruise control system of a quadrotor, focusing on hovering point stabilization and reference tracking. Initially, a full-state-feedback MPC is designed…
New quadrotor UAV control algorithms are developed, based on nonlinear surfaces composed of tracking errors that evolve directly on the nonlinear configuration manifold, thus inherently including in the control design the nonlinear…
We present an experimental setup to demonstrate normal modes and symmetry breaking in a two-dimensional pendulum. In our experiment we have used two modes of a single oscillator to demonstrate normal modes, as opposed to two single…
In this paper we show that there are applications that transform the movement of a pendulum into movements in $\mathbb{R}^3$. This can be done using Euler top system of differential equations. On the constant level surfaces, Euler top…
Complexity and nonlinear behaviours of inverted pendulum system make its control design a very challenging task. In this paper, a hybrid fuzzy adaptive control system using model reference approach is designed for inverted-pendulum system…
This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…
This paper presents a review of the design and application of model predictive control strategies for Micro Aerial Vehicles and specifically multirotor configurations such as quadrotors. The diverse set of works in the domain is organized…
In this work, we study a mathematical planar pendulum whose support point is positioned equidistant between two vertical and uniformly electrically charged wires. Its bob carries an electric charge and, its support point oscillates…
Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By utilizing thrusters in our bipedal robot, we can…
A double pendulum subject to external torques is used as a model to study the stability of a planar manipulator with two links and two rotational driven joints. The hamiltonian equations of motion and the fixed points (stationary solutions)…