用刻度四旋翼使倒立球摆稳定

The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI:10.1109/CYBER.2014.6917445

C. Raimúndez, J. Camaño, A. Barreiro

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引用次数: 7

摘要

在本文中，我们开发了一种控制策略，允许平衡倒立摆，使用四旋翼作为控制器装置。钟摆由四旋翼顶端的球形连杆支撑。该实验的可行性在于四旋翼反应具有很大的灵活性，具有广泛而丰富的动态范围。这项工作的最终目标是，该过程可以在协作工作环境中出现的场景中使用。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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1tabilizing an inverted spherical pendulum using a scale quad-rotor

In this paper, we develop a control strategy that allows to balance an inverted pendulum, using a quad-rotor as controller device. The pendulum is supported through a spherical link at the top of the quad-rotor. The feasibility of this experiment is due to the great flexibility of the quad-rotor reaction, having a wide and rich dynamic range. The ultimate aim of this work is that the procedure can be used in scenarios such as those arising in collaborative work environments.

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The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent

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