Propeller-Pendulum for Nonlinear UAVs Control

Nonlinear Landing Control for Quadrotor UAVs

Quadrotor UAVs are one of the most preferred type of small unmanned aerial vehicles because of the very simple mechanical construction and propulsion principle. However, the nonlinear dynamic behavior requires a more advanced stabilizing control and guidance of these vehicles. In addition, the small payload reduces the amount of batteries that can be carried and thus also limits the operating r...

Nonlinear Control Strategies for the Furuta Pendulum

The problem of swinging the Furuta pendulum up is usually solved by a hybrid controller where the global problem is broken down into two steps. First, an injection of energy leads the pendulum near the upright position. Then the pendulum is stabilized at this position. In this paper, different control strategies for both problems are analyzed both by simulation and using an actual laboratory pe...

Nonlinear Control of the Inertia Wheel Pendulum

Nonlinear Control of the Gyroscopic Pendulum

I watched it for some minutes, somewhat in fear, but more in wonder.. .. it seemed massy and heavy, tapering from the edge into a solid and broad structure above. It was appended to a weighty rod of brass, and the whole hissed as it swung through the air. Abstract In this paper we consider the nonlinear control of the Gyroscopic Pendulum, a novel mechanical system consisting of a physical pendu...

Nonlinear Model-based Position Control for Quadrotor UAVs

Position ontrol of Mi ro Air Vehi les (MAV) is hallenging, be ause position measurements by global navigation satellite systems or laser s anners are typi ally available at mu h lower rates than the ontrol frequen y. Furthermore, the transient response of lassi PID ontrollers is either slow or indu es overshoot. In this work, we address this issue by a model-based ontrol approa h. We model and ...