Conference Paper Experimental Verification of Inverse Optimal Contorl for Inverted Pendulum Stabilization on a Quadrotor

松田, 錬磨  ,  Matsuda, Renma  ,  田所, 祐一  ,  Tadokoro, Yuichi  ,  伊吹, 竜也  ,  Ibuki, Tatsuya  ,  三平, 満司  ,  SAMPEI, MITSUJI

This paper presents an experiment of stabilizing a 3D inverted pendulum attached on a quadrotor. We derivethe bilinear approximated model through the second order Taylor series expansion and propose an inverse optimal controllaw for this system. Then, the validity of the presented approach is demonstrated via numerical simulation. Finally, weexplain an experimental environment and demonstrate a stabilization experiment.

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