A review on Cubli and non linear control strategy

The paper depicts the reviews on evolution of a cube shaped device called the Cubli, which has the ability to leap up, create equilibrium on different angles and edges. The study is focussed upon the control techniques when there is a sudden brake on high angular velocity rotation of reaction wheels, which are seated on the surface of Cubli, allowing the Cubli to leap up, first to its edge, and then to its corner without any extrinsic control. As the cubli obtains a balancing position, Model predictive control was implemented for overall effective controlling by analyzing future state.