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eess.SY2020
Stabilizing a spherical pendulum on a quadrotor
Aradhana Nayak, Ravi Banavar, D. H. S Maithripala
In this article we design a backstepping control law based on geometric principles to swing up a spherical pendulum mounted on a moving quadrotor. The available degrees of freedom…
math.OC2020
Geometric Optimal Trajectory Tracking of Nonholonomic Mechanical Systems
Leonardo J. Colombo, David Martín de Diego, Aradhana Nayak +1
We study the tracking of a trajectory for a nonholonomic system by recasting the problem as a constrained optimal control problem. The cost function is chosen to minimize the error…