Stabilization of an inverse spherical pendulum through a LQR control
Fabio Ruggiero's website
In the linked video, an inverted spherical pendulum, grasped in a nonprehensile way by a manipulator, is stabilized through a LQR controller.
The effect of shapes in input-state linearization of nonprehensile planar rolling
A control framework for nonprehensile planar rolling dynamic manipulation is derived in this paper. Given some assumptions on the shapes of both the object and the manipulator, a state transformation is found rendering the state-space system in a chain of integrators form without internal dynamics.
Passivity-based control of VToL UAVs with an estimator of external wrenches
A passivity-based control of Vertical Take-off and Landing (VToL) Unmanned Aerial Vehicles (UAVs) is presented in this paper. An estimator of unmodeled dynamics and external wrench acting on the aerial vehicle and based on the momentum of the system is employed to compensate such disturbances effects.