Robust hybrid control for swinging-up and balancing an inverted pendulum attached to a UAV

The problem of balancing a flying inverted pendulum on an unmanned aerial vehicle (UAV) has been solved using linear and nonlinear control approaches. However, to the best of our knowledge, the problem of swinging-up a flying pendulum has not been addressed in the literature. In this paper, we solve the general problem of swinging-up and balancing an inverted pendulum attached to a quadrotor using robust hybrid control approaches. Moreover, we take advantage of the quadrotor dynamics and show that this system can be implemented without any modifications to a universal (i.e., linear and rotary) inverted pendulum. We demonstrate the performance of the proposed controller through a set of realistic simulation studies.