NDLI: Cascaded control for balancing an inverted pendulum on a flying quadrotor

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Cascaded control for balancing an inverted pendulum on a flying quadrotor

Content Provider	Scilit
Author	Zhang, Chao Hu, Huosheng Gu, Dongbing Wang, Jing
Copyright Year	2016
Description	SUMMARY 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.
Related Links	http://repository.essex.ac.uk/16081/1/Robotica-V33-N6-2016-Zhang.pdf https://core.ac.uk/download/pdf/74373799.pdf https://www.cambridge.org/core/services/aop-cambridge-core/content/view/A9C2E0578A7FBD05FC2F77E270DA7FBA/S0263574716000035a.pdf/div-class-title-cascaded-control-for-balancing-an-inverted-pendulum-on-a-flying-quadrotor-div.pdf
Ending Page	1279
Page Count	17
Starting Page	1263
ISSN	02635747
e-ISSN	14698668
DOI	10.1017/s0263574716000035
Journal	Robotica
Issue Number	6
Volume Number	35
Language	English
Publisher	Cambridge University Press (CUP)
Publisher Date	2017-06-01
Access Restriction	Open
Subject Keyword	Robotica Cybernetical Science Inverted Pendulum Micro Aerial Vehicles Active Disturbance Rejection Control Cascade Control
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software

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