As the extension of traditional linear (or X) inverted pendulum (IP), X-Z IP is a multiple-input multiple-output (MIMO), underactuated, open-loop unstable, and nonlinear system. In tracking control IP, equilibrium point changes with pivot position pendulum. This makes theories have difficulties in realization for The underactuated feature feedback linearization unsuitable to simplify design. Wi...

in this paper, a nonlinear model of the underactuated six degrees of freedom (6 dof) quadrotor helicopter was derived based on the newton-euler formalism. a new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. the proposed control structure consist of a sliding mode control base...

Wiebe et al., (2022). Torque-limited simple pendulum: A toolkit for getting familiar with control algorithms in underactuated robotics. Journal of Open Source Software, 7(74), 3884, https://doi.org/10.21105/joss.03884