A Flying Inverted Pendulum

摘要：

We extend the classic control problem of the inverted pendulum by placing the pendulum on top of a quadrotor aerial vehicle. Both static and dynamic equilibria of the system are investigated to find nominal states of the system at standstill and on circular trajectories. Control laws are designed around these nominal trajectories. A yawindependent description of quadrotor dynamics is introduced, using a ‘Virtual Body Frame’. This allows for the time-invariant description of curved trajectories. The balancing performance of the controller is demonstrated in the ETH Zurich Flying Machine Arena testbed. Development potential for the future is highlighted, with a focus on applying learning methodology to increase performance by eliminating systematic errors that were seen in experiments.

作者: Markus Hehn Raffaello D’Andrea

作者单位: Institute for Dynamic Systems and Control,ETH Zurich,Switzerland

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 763-770

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）