Flying Inverted Pendulum

Students: C. Hintz, S. Ahmad

 

The idea of having an inverted pendulum attached to a quadrotor that is able to swing-up and balance the pendulum in a rotational and linear manner, is currently in the implementation phase at MARHES Lab. The model has been developed and used to implement controllers in a Gazebo simulation.

 

First tests of the actual system are currently in process, where the effect of the change of center of gravity in the the quadrotor has been tested. The test is showing the quadrotor hovering at different heights. Attachments for the pendulum arm and the pendulum have been designed using AutoCAD and 3D printed in the laboratory.

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