2 papers
eess.SY2020
The Cubli: Modeling Utilizing Quaternions
Fabio Bobrow, Bruno A. Angelico, Flavius P. R. Martins
This paper performs the modeling of a Cubli, a cube with three reaction wheels mounted on orthogonal faces that becomes a reaction wheel based 3D inverted pendulum when positioned…
eess.SY2020
The Cubli: Modeling and Nonlinear Control Utilizing Unit Complex Numbers
Fabio Bobrow, Bruno A. Angelico, Paulo S. P. da Silva
This paper covers the modeling and nonlinear control of the Cubli, a cube with three reaction wheels mounted on orthogonal faces that becomes a reaction wheel-based 1D/3D inverted…