Hybrid Position and Force Control for a Spherical Inverted Pendulum Connected to a Quadrotor in a Constrained Motion

Document Type : Research Article

Authors

1 صنعتی سهند-مهندسی مکانیک

2 Faculty of Mechanical Engineering, Sahand University of Technology, Tabriz, Iran

Abstract

Today, the use of drones to automate activities such as civil works, rescue operations, and military missions is expanding to increase speed and accuracy, retaining manpower and reducing costs. According to this approach, in this paper, hybrid control of position and force for a spherical inverted pendulum on top of a quadrotor whose motion is constrained in the vertical direction is studied to enable the quadrotor-spherical inverted pendulum system to perform operations such as painting and cleaning on high ceilings. In this regard, first using Newton-Euler laws, the equations of motion governing the quadrotor-inverted pendulum system in the constrained motion are extracted, and then by presenting a model for the constraint force, a hierarchical control system including position-force control loop, inverted pendulum orientation control loop and quadrotor orientation control loop is provided. Proposed Control laws for the inverted pendulum orientation control loop and the quadrotor orientation control loop are designed using some theorems of geometric control methods.  Finally, to study the performance of the proposed control method, some numerical simulations have been performed.

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References

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Amirkabir Journal of Mechanical Engineering
Volume 54, Issue 10
January 2023
Pages 2255-2276

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