Robust nonlinear 3D control of an inverted pendulum balanced on a quadrotor

DOI10.1016/J.AUTOMATICA.2023.111336MaRDI QIDQ6537289zbMATH OpenFDO

Authors Weiming Yang, Gan Yu, Joel Reis, Carlos Silvestre

Publication date 14 May 2024

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.AUTOMATICA.2023.111336

zbMATH Keywords

inverted pendulumnonlinear controltrajectory trackingunderactuated unmanned aerial vehicles

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Adaptive control of rotary inverted pendulum system with time-varying uncertainties
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• Nonlinear Adaptive Sliding Mode Control for a Rotary Inverted Pendulum

Cites work

• A Sufficiently Smooth Projection Operator
• Event-triggered fuzzy control of nonlinear systems with its application to inverted pendulum systems
• Global stabilization of an inverted pendulum-control strategy and experimental verification
• Robust adaptive motion/force control for wheeled inverted pendulums
• Swinging up a pendulum by energy control

Cited in

(8)

• Adaptive compensation for unknown external disturbances for an inverted pendulum based on the internal model principle
• Virtual angle-based adaptive control for trajectory tracking and balancing of ball-balancing robots without velocity measurements
• Optimal PD-PD and state feedback control of underactuated ball and beam system with uncertainty and disturbances
• Model-free robust underactuated control of inverted pendulums
• Payload trajectory tracking control for aerial transportation systems with cable length online optimization
• Robust event-triggered tracking control for an unmanned aerial vehicle with non-vanishing disturbances
• PID-like robust control of non-minimum phase robotic manipulators
• HPA-PPO: a history-preview and attention-enhanced PPO for quadrotor attitude tracking

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