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Cascaded control for balancing an inverted pendulum on a flying quadrotor

Zhang, Chao and Hu, Huosheng and Gu, Dongbing and Wang, Jing (2017) 'Cascaded control for balancing an inverted pendulum on a flying quadrotor.' Robotica, 35 (6). pp. 1263-1279. ISSN 0263-5747

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Abstract

<jats:title>SUMMARY</jats:title><jats:p>This paper is focused on the flying inverted pendulum problem, i.e., how to balance a pendulum on a flying quadrotor. After analyzing the system dynamics, a three loop cascade control strategy is proposed based on active disturbance rejection control (ADRC). Both the pendulum balancing and the trajectory tracking of the flying quadrotor are implemented by using the proposed control strategy. A simulation platform of 3D mechanical systems is deployed to verify the control performance and robustness of the proposed strategy, including a comparison with a Linear Quadratic Controller (LQR). Finally, a real quadrotor is flying with a pendulum to demonstrate the proposed method that can keep the system at equilibrium and show strong robustness against disturbances.</jats:p>

Item Type: Article
Uncontrolled Keywords: Inverted pendulum; Micro aerial vehicles; Active disturbance rejection control; Cascade control
Subjects: T Technology > T Technology (General)
Divisions: Faculty of Science and Health
Faculty of Science and Health > Computer Science and Electronic Engineering, School of
SWORD Depositor: Elements
Depositing User: Elements
Date Deposited: 16 Feb 2016 10:41
Last Modified: 18 Aug 2022 12:49
URI: http://repository.essex.ac.uk/id/eprint/16081

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