Nonlinear Controller Design for a Quadrotor with Inverted Pendulum
Xichen Shi, Yashwanth Kumar Nakka
TL;DR
This paper develops nonlinear control strategies for a complex quadrotor system with an inverted pendulum, demonstrating effective trajectory tracking through feedback-linearization and CLF-QP methods.
Contribution
It introduces novel nonlinear control approaches for stabilizing and tracking a quadrotor with an attached pendulum, extending existing control techniques to more complex underactuated systems.
Findings
Successful trajectory tracking for quadrotor-only case
Effective stabilization of quadrotor with pendulum
Validation of feedback-linearization and CLF-QP methods
Abstract
The quadrotor is a degrees-of-freedom (DoF) system with underactuation. Adding a spherical pendulum on top of a quadrotor further complicates the task of achieving any output tracking while stabilizing the rest. 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.
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Taxonomy
TopicsAdaptive Control of Nonlinear Systems · Control and Stability of Dynamical Systems · Control and Dynamics of Mobile Robots