Balancing and driving control of a single line play robot on the rope in the air

A single-line play robot (SLPR) is designed and developed for playing balancing on a rope in the air. SLPR is actuated by several ducted fans to generate lateral forces for balancing and logitudinal forces for movements. Control is done by regulating air power. Detecting angles is important that sensor fusion of a complementary filtering method is utilized to estimate the angle accurately. Experimental studies of balancing and driving control of SLPR are performed.