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Cascaded control for balancing an inverted pendulum on a flying quadrotor

Published online by Cambridge University Press:  09 February 2016

Chao Zhang ,
Huosheng Hu ,
Dongbing Gu  and
Jing Wang
Chao Zhang*
Affiliation:
Engineering Research Institute of USTB, University of Science and Technology Beijing, Beijing, China. E-mail: wangj@nercar.ustb.edu.cn Department of Computer Science and Electronic Engineering, University of Essex, Colchester, UK. E-mails: hhu@essex.ac.uk, dgu@essex.ac.uk
Huosheng Hu
Affiliation:
Department of Computer Science and Electronic Engineering, University of Essex, Colchester, UK. E-mails: hhu@essex.ac.uk, dgu@essex.ac.uk
Dongbing Gu
Affiliation:
Department of Computer Science and Electronic Engineering, University of Essex, Colchester, UK. E-mails: hhu@essex.ac.uk, dgu@essex.ac.uk
Jing Wang
Affiliation:
Engineering Research Institute of USTB, University of Science and Technology Beijing, Beijing, China. E-mail: wangj@nercar.ustb.edu.cn
*
*Corresponding author. E-mail: czhangd@essex.ac.uk
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Summary

This paper is focused on the flying inverted pendulum problem, i.e., how to balance a pendulum on a flying quadrotor. After analyzing the system dynamics, a three loop cascade control strategy is proposed based on active disturbance rejection control (ADRC). Both the pendulum balancing and the trajectory tracking of the flying quadrotor are implemented by using the proposed control strategy. A simulation platform of 3D mechanical systems is deployed to verify the control performance and robustness of the proposed strategy, including a comparison with a Linear Quadratic Controller (LQR). Finally, a real quadrotor is flying with a pendulum to demonstrate the proposed method that can keep the system at equilibrium and show strong robustness against disturbances.

Keywords

Inverted pendulumMicro aerial vehiclesActive disturbance rejection controlCascade control
Type
Articles
Information
Robotica , Volume 35 , Issue 6 , June 2017 , pp. 1263 - 1279
Copyright
Copyright © Cambridge University Press 2016 

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