Vision-based control of a flying spherical inverted pendulum

Krafes, Soukaina; Chalh, Zakaria; Saka, Abdelmjid

doi:10.1109/icoa.2018.8370509

Cited by 4 publications

(2 citation statements)

References 13 publications

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“…However, the results indicated that the problem can be improved by investigating other control approaches. Krafes S. et al [4] presents the full nonlinear model of the spherical inverted pendulum on a quadrotor and visual servoing control. While that, Nayak A. et al [5] proposed to swing up a spherical pendulum mounted on a moving quadrotor, and a backstepping control law based on geometric principles is presented.…”

Section: Introductionmentioning

confidence: 99%

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

Martinez-Vasquez,

Castro-Linares,

Rodríguez-Mata

et al. 2023

Machines

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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 yaw, roll, and pitch dynamics, and a control input for the vertical displacement in height. A trajectory tracking control scheme is proposed by means of an active disturbance rejection control based on a discontinuous extended state observer (ADRC-DESO) that allows controlling the system in the translational dynamics of the quadrotor including the rotational dynamics and the inverted pendulum dynamics. To address this problem, the dynamic model is linearized around an equilibrium point, taking into consideration that the system operates in close vicinity of the equilibrium points, thus considerably simplifying the dynamic model. Proving that the linear model is controllable and therefore differentiable flat, flat outputs are proposed around the displacements associated with the three cartesian axes of the Euclidean space, including a dynamic associated with the yaw dynamics of the quadrotor allowing to parameterize the full linear system. Simulation results as well as a convergence analysis validate the performance of the strategy.

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Section: Introductionmentioning

confidence: 99%

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

Martinez-Vasquez,

Castro-Linares,

Rodríguez-Mata

et al. 2023

Machines

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“…The LQR control was used to stabilize the position of the pendulum and Quadcopter systems considering that the pendulum's mass was less than 5% of the UAV's mass. Some other works have been developed based on the FIP system by using different control ideas; a three-level cascade strategy is proposed in [27], wherein each level of the cascade system executes a control law designed through a backstepping approach and numerical simulations were carried out. Chen et al [28] used an improved genetic algorithm to determine parameters in the LQR controller in order to get better stabilization in the FIP system.…”

Section: Introductionmentioning

confidence: 99%

Flatness-Based Active Disturbance Rejection Control for a PVTOL Aircraft System with an Inverted Pendular Load

et al. 2022

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This paper presents a systematic procedure for the control scheme design for a PVTOL aircraft system with an inverted pendular load, which is a nonlinear underactuated system. The control scheme is based on the use of angular movement as an artificial control in order to propose new auxiliary control inputs. This is achieved by a linear extended state observer-based active disturbance rejection control to reject both nonmodeled dynamics and external disturbances. The flying planar inverted pendulum is then linearized around an unstable equilibrium point, and the resulting system is subdivided into two subsystems: (1) the height system, and (2) the horizontal pendulum system. For the height system, a linear extended state observer-based active disturbance rejection control is proposed in order to accomplish a take-off and landing task in the presence of external disturbances and non-linearities neglected in the linearization process. The flatness property in the horizontal-pendulum system is exploited in order to propose another active disturbance rejection control of linear nature. The flatness of the tangentially linearized model provides a unique structural property that results in an advantageous low-order cascade decomposition of the linear extended state observer design. Numerical simulations show the effectiveness of the proposed control scheme in trajectory tracking tasks in the presence of disturbances caused by crosswinds with random amplitudes.

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