倒立振り子を搭載したクアッドロータの非線形制御器設計
Nonlinear Controller Design for a Quadrotor with Inverted Pendulum
クアッドロータに球面振り子を載せた系に対し、フィードバック線形化とCLF-QPを用いた制御器を設計し、軌道追従を実現した。
著者: Xichen Shi, Yashwanth Kumar Nakka
分類: cs.RO, cs.AI, cs.SY, eess.SY, math.DS
原文アブストラクト
The quadrotor is a $6$ degrees-of-freedom (DoF) system with underactuation. Adding a spherical pendulum on top of a quadrotor further complicates the task of achieving any output tracking while stabilizing the rest. In this report, we present different types of controllers for the nonlinear dynamical system of quadrotor and pendulum combination, utilizing feedback-linearization and control Lyapunov function with quadratic programming (CLF-QP) approaches. We demonstrated trajectory tracking for quadrotor-only case as well as quadrotor-pendulum-combined case.
