Spherical Inverted Pendulum on a Quadrotor UAV: A Flatness and Discontinuous Extended State Observer Approach

Spherical Inverted Pendulum on a Quadrotor UAV: A Flatness and Discontinuous Extended State Observer Approach

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...

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Bibliographic Details
Main Authors: Adrian H. Martinez-Vasquez, Rafael Castro-Linares, Abraham Efraím Rodríguez-Mata, Hebertt Sira-Ramírez
Format: Article
Language:English
Published: MDPI AG 2023-05-01
Series:Machines
Subjects:
differential flatness
discontinuous observer
inverted pendulum
lyapunov analysis
Online Access:https://www.mdpi.com/2075-1702/11/6/578

Internet

https://www.mdpi.com/2075-1702/11/6/578

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