Flying inverted pendulum trajectory control on Robust Intelligent Sensing and Control Multi-Agent Analysis Platform

We demonstrate trajectory control of the tip of an inverted pendulum atop a small unmanned aerial vehicle. In this paper we discuss how exploiting the differential flatness of combined systems provides a realization of adequate control. A differential flatness controller is derived for trajectory control of a pendulum tip. Simulation results are presented for tip trajectory tracking with and without added noise. A framework for hardware demonstration is established. Vertical take-off and landing (VTOL) system capabilities are further explored as well as active/passive manipulation using quadrotors.