M.Sc. Thesis
Stabilization of an inverse spherical pendulum through a LQR control
Robotics, automation, websites & more
Fabio Ruggiero's website
Welcome to the website of Fabio Ruggiero. Robotics, automation, websites and more.
Recent works
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M.Sc. Thesis
In the linked video, an inverted spherical pendulum, grasped in a nonprehensile way by a manipulator, is stabilized through a LQR controller.
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Planar Rolling Nonprehensile Manip.
The effect of shapes in input-state linearization of nonprehensile planar rolling
Planar Rolling Nonprehensile Manip.
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.
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External Wrench Estimator for UAVs
Passivity-based control of VToL UAVs with an estimator of external wrenches
External Wrench Estimator for UAVs
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.
