2017/07/03 by Siddharth H. Nair, Nair, Siddharth H., Ravi N. Banavar +3
Engineering · #Adaptive Control of Nonlinear Systems #Control and Stability of Dynamical Systems #Dynamics and Control of Mechanical Systems #FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1707.00661
openalex publication_date 2017/07/03 · openalex created_date 2022/10/06 · openalex updated_date 2026/07/28
This article studies the dynamics and control of a novel underactuated\nsystem, wherein a plate suspended by cables and with a freely moving mass on\ntop, whose other ends are attached to three quadrotors, is sought to be\nhorizontally stabilized at a certain height, with the ball positioned at the\ncenter of mass of the plate. The freely moving mass introduces a 2-degree of\nunderactuation into the system. The design proceeds through a decoupling of the\nquadrotors and the plate dynamics. Through a partial feedback linearization\napproach, the attitude of the plate and the translational height of the plate\nis initially controlled, while maintaining a bounded velocity along the y and\nx directions. These inputs are then synthesized through the quadrotors with a\nbackstepping and timescale separation argument based on Tikhonov's theorem.\n